Program Instructions in Si Programmer

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With single axis applications you can have up to 100 instructions in your program. Each time you click on the arrow next to a line number you get the screen below, which allows you to choose the appropriate instruction for your application.

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Feed to Length
The Feed to Length instruction is a point-to-point (relative) move. Parameters are distance, direction, speed acceleration, and deceleration. There is an option to reduce speed at a specified point within the move as well.

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Feed & Return
A point-to-point move (relative) move that returns to the starting point of the move after a specified delay. Parameters include distance, direction, speed, acceleration, deceleration, return speed, and return delay.

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Feed to Position
The Feed to Position instruction executes an absolute move. Parameters are position, speed, acceleration and deceleration.

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Feed to Length & Set Output
The Feed to Length & Set Output instruction executes a point-to-point (relative) move. During that relative move an output can be set (open or closed) at any specific point along the move. Parameters are the same as a standard Feed to Length, plus output number, position, and condition.

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Feed to Sensor
The Feed to Sensor instruction executes a move that will continue in the specified direction until one of the drive's digital inputs matches a predetermined condition. Once the input condition is met the motor makes a controlled stop. Parameters are speed, acceleration, deceleration, input number, input condition, and safety distance.

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Feed to Sensor & Return
The Feed to Sensor & Return instruction executes a Feed to Sensor instruction immediately followed by a return move to the starting position of the initial move. Parameters are speed, acceleration, deceleration, input number, input condition, return speed, and return delay.

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Set Position
The Set Position instruction is used to assign an absolute position value to the current motor position.

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Seek Home
The Seek Home instruction is used to position the motor at a home sensor (wired to one of the drive's general purpose inputs).

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Wait Time
The Wait Time instruction causes the program to wait for the specified period of time before proceeding to subsequent instructions.

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Wait Input
The Wait Input instruction causes the program to wait for a specified input condition to be met before proceeding with subsequent instructions in the program.

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Save Absolute Position
The Save Absolute Position instruction saves the current motor position to an internal drive variable. This stored position can then be moved to later in a program. This instruction works like a "teach" function.

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MMI Prompt
The MMI Prompt instruction is the only instruction required for working with an Si drive's optional operator interface (MMI). The instruction contains all 8 available functions for the MMI, such as display text, display text and get distance, display text and get speed, etc. Each time an MMI function is required in a program the MMI Prompt instruction is used to configure the function for that specific line number.

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Go To
The Go To instruction causes the program to immediately jump to a specified line of the program.

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If Input Go To
The If Input Go To instruction causes the program to immediately jump to a specified line number only if the specified input condition(s) is met. If the condition(s) is not met the program proceeds to the subsequent instruction in the program.

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Set Output
The Set Output instruction is used to turn the specified output on/off/pulse.

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Comment
The Comment instruction is used to add comments to a program. Each comment line can contain up to 30 text characters.

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Repeat
The Repeat instruction is used to mark the beginning of a repeat loop. Repeat loops can be nested one inside another.

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End Repeat
The End Repeat instruction marks the end of a repeat loop. All instructions between a Repeat instruction and the next End Repeat instruction are executed within the repeat loop. There are no parameters required for an End Repeat instruction.

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Reset
The Reset instruction is used to reset the loop count of a repeat loop and to reset the interrupt function.

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Change Current/Servo
The Change Current instruction is used to change the motor current. Motor current can be increased, decreased, disabled, or resumed. When using Si Programmer with a BLu servo drive this command becomes the Change Servo command, which can be used to not only change the servo motor current (enable/disable), but to change tuning parameters as well.

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Hand Wheel
The Hand Wheel instruction can be used in conjunction with a low-resolution encoder to do manual positioning.

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Call
The Call instruction works like a subroutine. When executed it immediately jumps the program to the specified line number.

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Return
The Return instruction is used in conjunction with the Call instruction to create subroutines in a program. After a line is called via the Call instruction, the Return instruction automatically returns program execution to the original, "calling" line number.

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None, Insert, Delete, Cancel
The None, Insert, Delete, and Cancel buttons are used for program editing. The None button makes a program line blank without deleting it. The Insert button inserts one blank line into the program and bumps all subsequent instructions down one line number. The Delete button deletes one line from the program and bumps all subsequent instructions up one line number. The Cancel button is used to exit the Program Line instructions window without selecting a particular instruction.