O-codes provide for flow control in NC programs. Each block has an associated number, which is the number used after O. Care must be taken to properly match the O-numbers. O codes use the letter O not the number zero as the first character in the number like O100 or o100.
1. Numbering
Numbered O codes must have a unique number for each subroutine, .Numbering Example
(the start of o100)
o100 sub
(notice that the if-endif block uses a different number)
(the start of o110)
o110 if [#2 GT 5]
(some code here)
(the end of o110)
o110 endif
(some more code here)
(the end of o100)
o100 endsub
2. Comments
Comments on the same line as the O word should not be used as the behavior can change in the future.
The behavior is undefined if:
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The same number is used for more than one block
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Other words are used on a line with an O- word
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Comments are used on a line with an O-word
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Note
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Using the lower case o makes it easier to distinguish from a 0 that might have been mistyped. For example o100 is easier to see than O100 that it is not a 0. |
3. Subroutines
Subroutines starts at Onnn sub and ends at Onnn endsub. The lines between Onnn sub and Onnn endsub are not executed until the subroutine is called with Onnn call. Each subroutine must use a unique number.
o100 sub G53 G0 X0 Y0 Z0 (rapid move to machine home) o100 endsub (the subroutine is called) o100 call M2
Inside a subroutine, O- return can be executed. This immediately returns to the calling code, just as though O- endsub was encountered.
o100 sub
(test if parameter #2 is greater than 5)
o110 if [#2 GT 5]
(return to top of subroutine if test is true)
o100 return
o110 endif
(this only gets executed if parameter #2 is not greater than 5)
(DEBUG, parameter 1 is [#1])
o100 endsub
See the Binary Operators & Parameters sections for more information.
O- Call takes up to 30 optional arguments, which are passed to the subroutine as #1, #2 , …, #N. Parameters from #N+1 to #30 have the same value as in the calling context. On return from the subroutine, the values of parameters #1 through #30 (regardless of the number of arguments) will be restored to the values they had before the call. Parameters #1 - #30 are local to the subroutine.
Because 1 2 3 is parsed as the number 123, the parameters must be enclosed in square brackets. The following calls a subroutine with 3 arguments:
o100 sub
(test if parameter #2 is greater than 5)
o110 if [#2 GT 5]
(return to top of subroutine if test is true)
o100 return
o110 endif
(this only gets executed if parameter #2 is not greater than 5)
(DEBUG, parameter 1 is [#1])
o100 endsub
o100 call [1] [2]
Subroutine bodies may not be nested. They may only be called after they are defined. They may be called from other functions, and may call themselves recursively if it makes sense to do so. The maximum subroutine nesting level is 10.
Subroutines can change the value of parameters above #30 and those changes will be visible to the calling code. Subroutines may also change the value of global named parameters.
4. Looping
The while loop has two structures: while/endwhile, and do/while. In each case, the loop is exited when the while condition evaluates to false. The difference is when the test condition is done. The do/while loop runs the code in the loop then checks the test condition. The while/endwhile loop does the test first.
(draw a sawtooth shape) G0 X1 Y0 (move to start position) #1 = 0 (assign parameter #1 the value of 0) F25 (set a feed rate) o101 while [#1 LT 10] G1 X0 G1 Y[#1/10] X1 #1 = [#1+1] (increment the test counter) o101 endwhile M2 (end program)
#1 = 0 (assign parameter #1 the value of 0)
o100 do
(debug, parameter 1 = #1)
o110 if [#1 EQ 2]
#1 = 3 (assign the value of 3 to parameter #1)
(msg, #1 has been assigned the value of 3)
o100 continue (skip to start of loop)
o110 endif
(some code here)
#1 = [#1 + 1] (increment the test counter)
o100 while [#1 LT 3]
(msg, Loop Done!)
M2
Inside a while loop, O- break immediately exits the loop, and O- continue immediately skips to the next evaluation of the while condition. If it is still true, the loop begins again at the top. If it is false, it exits the loop.
5. Conditional
The if conditional consists of a group of statements with the same o number that start with if and end with endif. Optional elseif and else conditions may be between the starting if and the ending endif.
If the if conditional evaluates to true then the group of statements following the if up to the next conditional line are executed.
If the if conditional evaluates to false then the elseif conditions are evaluated in order until one evaluates to true. If the elseif condition is true then the statements following the elseif up to the next conditional line are executed. If none of the if or elseif conditions evaluate to true then the statements following the else are executed. When a condition is evaluated to true no more conditions are evaluated in the group.
(if parameter #31 is equal to 3 set S2000) o101 if [#31 EQ 3] S2000 o101 endif
(if parameter #2 is greater than 5 set F100) o102 if [#2 GT 5] F100 o102 elseif [#2 LT 2] (else if parameter #2 is less than 2 set F200) F200 (else if parameter #2 is 2 through 5 set F150) o102 else F150 o102 endif
Several conditons may be tested for by elseif statements until the else path is finally executed if all preceding conditons are false:
(if parameter #2 is greater than 5 set F100) O102 if [#2 GT 5] F100 (else if parameter #2 less than 2 set F200) O102 elseif [#2 LT 2] F20 (parameter #2 is between 2 and 5) O102 else F200 O102 endif
6. Repeat
The repeat will execute the statements inside of the repeat/endrepeat the specified number of times. The example shows how you might mill a diagonal series of shapes starting at the present position.
(Mill 5 diagonal shapes) G91 (Incremental mode) o103 repeat [5] ... (insert milling code here) G0 X1 Y1 (diagonal move to next position) o103 endrepeat G90 (Absolute mode)
7. Indirection
The O-number may be given by a parameter and/or calculation.
o[#101+2] call
For more information on computing values see the following sections
8. Calling Files
To call a separate file with a subroutine name the file the same as your call and include a sub and endsub in the file. The file must be in the directory pointed to by PROGRAM_PREFIX or SUBROUTINE_PATH in the ini file. The file name can include lowercase letters, numbers, dash, and underscore only. A named subroutine file can contain only a single subroutine definition.
o<myfile> call
o123 call
In the called file you must include the oxxx sub and endsub and the file must be a valid file.
(filename myfile.ngc) o<myfile> sub (code here) o<myfile> endsub M2
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Note
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The file names are lowercase letters only so o<MyFile> is converted to o<myfile> by the interpreter. More information about the search path and options for the search path are in the INI Configuration Section. |
9. Subroutine return values
Subroutines may optionally return a value by an optional expression at an endsub or return statement.
o123 return [#2 *5] ... o123 endsub [3 * 4]
A subroutine return value is stored in the <_value> predefined named parameter , and the <_value_returned> predefined parameter is set to 1, to indicate a value was returned. Both parameters are global, and are cleared just before the next subroutine call.
10. Errors
The following statements cause an error message and abort the interpreter:
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a return or endsub not within a sub defintion
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a label on repeat which is defined elsewhere
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a label on while which is defińed elsewhere and not referring to a do
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a label on if defined elsewhere
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a undefined label on else or elseif
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a label on else, elseif or endif not pointing to a matching if
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a label on break or continue which does not point to a matching while or do
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a label on endrepeat or endwhile no referring to a corresponding while or repeat
To make these errors non-fatal warnings on stderr, set bit 0x20 in the [RS274NGC]FEATURE= mask ini option.