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This instruction allows the axis control that runs the R3 program to make logical decisions.

Syntax

if (condition)

    ;block1

[else

    ;block2 ]

endif

Validity

Rule, Task

Note

If the "condition" results TRUE, the instruction group defined as "block1" is executed.

If the "condition" results FALSE, the instruction group defined as "block2" is executed.

Examples of use:

; if the contents of the real register rr(2) is zero...

if(rr(2) = 0)

; I execute this instruction...

 rr(1) = rr(1) * 2

else

; otherwise I execute this other instruction...

 rr(1) = rr(1) / 2

; end of if-else-endif block

endif

Note: In case "block2" instructions do not need to be executed, the keyword else can be omitted.

Example:

; LOOP label

LOOP:

; if the negate of START is TRUE...

if(NOT(START))

; then jump to "LOOP"

 goto LOOP

endif

; I get here only if START is true (i.e. non-zero)

Example:

; Nesting of if blocks is allowed:

; I check the status of UP

if( UP )

; if UP is TRUE I check if PIPPO is less than or equal to 255

    if( PIPPO <= 255 )

        PIPPO = PIPPO + 1

    endif

else

; if UP is FALSE I check if PIPPO is greater than or equal to 0

    if( PIPPO >= 0 )

        PIPPO = PIPPO - 1

    endif

endif

 
  

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