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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Program Command Specification 441

With an action statement or statements following on that line, it will execute those statements provided

the condition is true (this syntax is valid in motion programs only). If the condition is false, it will not

execute those statements; it will only execute any statements on a false condition if the line immediately

following begins with ELSE. If the next line does not begin with ELSE, there is an implied ENDIF at the

end of the line.

Note:

When there is an ELSE statement on the motion-program line immediately

following an IF statement with actions on the same line, that ELSE statement is

automatically matched to this IF statement, not to any preceding IF statements

under which this IF statement may be nested.

With no statement following on that line, if the condition is true, Turbo PMAC will execute all

subsequent statements on following lines down to the next ENDIF or ELSE statement (this syntax is valid

in motion and PLC programs). If the condition is false, it will skip to the ENDIF or ELSE statement and

continue execution there.

In a rotary motion program, only the single-line version of the IF statement is permitted. No ELSE or

ENDIF statements are allowed.

In a PLC program, compound conditions can be extended onto multiple program lines with subsequent

AND and OR statements.

There is no limit on nesting of IF conditions and WHILE loops (other than total buffer size) in fixed

motion and PLC programs. No nesting is allowed in rotary motion programs.

Examples:

IF (P1>10) M1=1

IF (M11=0 AND M12!=0) M2=1 M3=1

IF (M1=0) P1=P1-1

ELSE P1=P1+1

IF (M11=0)

P1=1000*SIN(P5)

X(P1)

ENDIF

IF (P1<0 OR P2!<0)

AND (P50=1)

X(P1)

DWELL 1000

ELSE

X(P1*2)

DWELL 2000

ENDIF