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MNEMONIC FUNCTION TYPE
BR Branch Program Instruction
DESCRIPTION
The branch instruction can be used to perform a conditional or unconditional branch to a routine in an MDrive program. It can also
be used to perform loops and IF THEN logic within a program.
There are two parameters to a branch instruction. These are used to perform two types of branches:
Conditional Branch
This type of branch first specifies an address or process label where program execution should continue if the second parameter, the
condition, is true. The condition parameter may include flags as well as logical functions that are to be evaluated.
Unconditional Branch
In this type of branch the second parameter is not specified, then the execution will continue at the address specified by the first
parameter.
USAGE
BR <addr/label, cond>
EXAMPLE:
BR 256, I2 ‘Branch to program line 256 if Input 2 is TRUE
BR 120 ‘Unconditional Branch to program line 120
BR JC, I1=1 ‘Branch to process labeled JC if input 1 is True
RELATED COMMANDS: —
MNEMONIC FUNCTION TYPE
C1 Set Counter 1 (Motor Counts) Motion Variable
DESCRIPTION
This variable contains the raw count representation of the clock pulses sent to the motor drive.
USAGE UNITS RANGE DEFAULT
C1=<counts> Motor Counts -2147483648 to 2147483647 0
EXAMPLE:
C1=20000 ‘Set Counter 1 to 20000 motor counts
PR C1 ‘Print the value of C1 to the terminal screen
RELATED COMMANDS: C2, P
MNEMONIC FUNCTION TYPE
BY Busy Flag (Read Only) Motion Flag
DESCRIPTION
This read only status flag will indicate whether or not the axis is moving.
USAGE UNITS RANGE DEFAULT
PR BY — 0/1 0
EXAMPLE:
PR BY ‘read the state of the busy flag
RELATED COMMANDS: PR