Program Execution - Omron R88A-MCW151-DRT-E Operation Manual

BASIC Programs
! W A R N I N G
5-5-3

Program Execution

I/O Refresh
Relevant commands
Setting Programs to Run
at Start-up
92
The program syntax and structure are checked during compilation. If compila-
tion is unsuccessful, a message will be provided and no program code will be
generated. A red cross will appear in the Motion Perfect directory box.
Programs cannot be run when compilation errors occur. The errors should be
corrected and the program recompiled.
The compilation process also includes the following:
• Removing comments.
• Compiling numbers into the internal processor format.
• Converting expressions into reverse Polish Notation format for execution.
• Precalculating variable locations.
• Calculating and embedding loop structure destinations.
As the compiling process requires some free memory, un-expected compiling
errors may be occurring when the amount of free memory is not sufficient.
The timing of the execution for the different tasks and the refreshing of the I/O
of the MC Unit revolves around the servo cycle period of the system. The
servo cycle period is determined by the SERVO_PERIOD system parameter.
The MC Unit will either have a servo cycle period of 0.5 or 1.0 ms.
The I/O status of the MC Unit is refreshed at the beginning of every servo
cycle.
• The captured status of the digital inputs is transferred to the IN system
input variable. Note that this is the status captured in the previous servo
cycle.
• The analogue outputs for the speed references are updated.
• The digital outputs are updated conform the status of the OP system out-
put variable.
• The status of the digital inputs is captured.
Note that no automatic processing of the I/O signals is taking place, except for
registration. This implies that all actions must be programmed in the BASIC
programs.
Motion Perfect provides several ways of executing, pausing and stopping the
programs using buttons on the control panel and the editing windows. The fol-
lowing commands can be given on the command line to control the execution.
Command
RUN Run the current selected program or a specified pro-
gram, optionally on a specified task number.
STOP Stop the current selected program or a specified
program.
HALT Stop all programs on the system
PROCESS Displays all running tasks.
The user can explicitly allocate the task priority on which the BASIC program
is expected to run. When a user program is run without explicit task allocation,
it is assigned the highest available task priority. Tasks 3 has high priority and
task 2 and 1 have low priority.
Programs can be set to run automatically at different priorities when power is
turned ON. If required, the computer can be left connected as an operator
interface or may be removed and the programs run "stand-alone".
Programs are set in Motion Perfect to run automatically at start-up using the
Set Power Up Mode... selection under the Program Menu. This operation
Function
Section 5-5