V – Variables
Command used to set or return the value of a variable. When used in standalone programming, variables can also be used in mathematical operations.
Applies to: CMD-4CR, CMD-4EX-SA, PMX-4EX-SA, PMX-4ET-SA, PMX-2ED-SA, PMX-2EX
ASCII/Standalone V[var]
Syntax:
Read:
V[var]
|
Where: [var] specifies variable number (0-99 for 4-axis controllers, 0-64 for 2-axis controllers) |
Write:
V[var]=[value]
|
Where: [var] specifies variable number (0-99 for 4-axis controllers, 0-64 for 2-axis controllers) [value] specifies the set value for the variable, 32-bit value range |
Reply:
Command is accepted and executed
Read:
Return the standalone variable value
Write:
OK
Command cannot be processed
An error message is returned. See Error Codes
Example:
Read:
V12 * Returns the value of variable V12
Write:
V88=1000 * Sets the variable V88 to equal 1000
Applies to: Standalone mode only
V3=V3+7 * Sets the value of V3 to the current value of V3 + 7
Notes:
- Variables can be set to specific values between -2,147,483,648 and +2,147,483,647
- Variables can be used with the following mathematical expressions. The syntax for all available operations can be found below.
|
Operator |
Description |
Example |
|
+ |
Integer Addition |
V1=V2+V3 |
|
- |
Integer Subtraction |
V1=V2-V3 |
|
* |
Integer Multiplication |
V1=V2*V3 |
|
/ |
Integer Division (round down) |
V1=V2/V3 |
|
% |
Modulus |
V1=V2%5 |
|
>> |
Bit Shift Right |
V1=V2>>2 |
|
<< |
Bit Shift Left |
V1=V2<<2 |
|
& |
Bitwise AND |
V1=V2&7 |
|
| |
Bitwise OR |
V1=V2|8 |
|
~ |
Bitwise NOT |
V1=~V2 |
Operations
- Note that mathematical operations can only be performed in standalone programming.
Applies to: CMD-4CR, CMD-4EX-SA
- Variables V0 through V99 can be stored to flash memory using the STORE command
Applies to: PMX-4EX-SA, PMX-4ET-SA
- Variables V50 through V99 can be stored to flash memory using the STORE command
- Variables V0-V49 will be initialized to zero on power up
Applies to: PMX-2ED-SA, PMX-2EX
- Variables V32 through V63 can be stored to flash memory using the STORE command
- Variables V0-V31 will be initialized to zero on power up
See also:
SACTRL, SAP, SASTAT, SLOAD, GS, SPC