Reference Manual

PMAC 2 Software Reference

324 PMAC Program Command Specification

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. 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, 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.

Example

IF (P1>10) M1=1 ; OK in PROG & ROT, not in PLC

IF (M11=0 AND M12!=0) M2=1 M3=1 ; OK in PROG & ROT, not in PLC

; OK in PROG only, not ROT or PLC

IF (M1=0) P1=P1-1

ELSE P1=P1+1 ; OK in PROG only, not ROT or PLC

IF (M11=0)

P1=1000*SIN(P5)

X(P1)

ENDIF

; OK in PLCs, not PROG or ROT

IF (P1<0 OR P2!<0)

AND (P50=1)

P10=0

ELSE

P10=1

ENDIF