MC-Basic:WITHGLOBAL

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This command sets a default motion element (axis or group). Thereafter, the motion element is operated on without having to explicitly indicate the motion element name. The default motion element exists only after a WithGlobal statement, which is terminated by the End Withglobal keywords, or by a new WithGlobal statement.

Syntax

WithGlobal <element name>

Availability

4.19

Scope

Configuration, Task or Terminal

• In the Configuration scope, the specified motion element becomes the default motion element for the system unless there is another WithGlobal command inside other scopes (last WithGlobal statement "win").

• A WithGlobal statement used inside the terminal scope will replace any previous Withglobal statement.
• In Config.prg or the terminal, the End WithGlobal keywords are not required. In the task scope, the End WithGlobal keywords are required.

The only way to "kill" a WithGlobal statement that declared in Config.prg, is to use reset all command, and change the Config.prg file. Notice - this is noe a replacement method.

Limitations

• The WithGlobal command cannot be set in run time.
• WithGlobal commands can't be nested.
• Each WithGlobal block must be explicitly created, BUT there is no need to explicitly terminated it before executing another WithGlobal statement.
• A subroutine called from within a WithGlobal block does not inherit the default motion element, so the element is not defined within the subroutine, and an error is flagged. A GOTO command is not allowed inside a WithGlobal block; an error is flagged.

Examples

 1 A1.VMax=5000<br>
 2 
 3 A1.Vord=5000<br>
 4 
 5 A1.VCruise=3000<br>
 6 
 7 A1.PEMax=10<br>
 8 
 9 A1.PESettle=0.01<br>
10 
11 Move A1 100
12 
13 A2.VMax=5000<br>
14 
15 A2.Vord=5000<br>
16 
17 A2.VCruise=3000<br>
18 
19 A2.PEMax=10<br>
20 
21 A2.PESettle=0.01<br>
22 
23 Move A2 100

Can be simplified using:

 1 WithGlobal A1<br>
 2        VMax=5000<br>
 3        Vord=5000<br>
 4        VCruise=3000<br>
 5        PEMax=10<br>
 6        PESettle=0.01<br>
 7        Move 100<br>
 8 
 9 Withglobal A2
10        VMax=5000<br>
11        Vord=5000<br>
12        VCruise=3000<br>
13        PEMax=10<br>
14        PESettle=0.01<br>
15        Move 100<br>