1XE100 Erase any previous sequence #100.
1XD100 Begin Sequence #100.
1CR Send Carriage Return (or Return/Enter) to computer.
1"SEQUENCE_#100 1" = quote - in this case, send "sequence #100" to computer.
1CR Send Carriage Return (or Return/Enter) to computer.
1"START-UP_SEQUENCE
1CR
1"MN-MODE_NORMAL
1CR
1"MPI-MODE_POSITIONING_INCREMENTAL
1CR
MPI Set Positioning to Incremental mode.
OSE1 Enable Jog.
JVL.25 Set Jog Velocity Low to .25 revolutions per second.
JVH5 Set Jog Velocity High to 5 revolutions per second.
JA25 Set Jog Accretion to 25 revolutions per second 2.
1"SSJ1-SEQUENCE_SELECT_MODE
1CR
SSJ1 Enable Sequence Select Mode.
1"PZ-SET_CURRENT_POSITION_TO_ZERO
1CR
PZ Set current shaft position to D = 0 (for MPA mode).
1"LD3-DISABLE_CW/CCW_LIMITS
1CR
LD3 Disables limits (which are not connected).
1"GOTO16-GOTO_SEQUECNE_#16
1CR
GOTO16 Goto Sequence #16.
XT End Sequence.
1XE16
1XD16
1CR
MN Set Mode to Normal.
INL0 Set In Level to Low. ( ---|/|---- = closed = 1 )
IN1B Set Input 1 to Sequence Select Mode.
IN2B Set Input 2 to Sequence Select Mode.
IN3B Set Input 3 to Sequence Select Mode.
IN4B Set Input 4 to Sequence Select Mode.
IN5A Set Input 5 to be a Trigger Input.
IN6R Set Input 6 be a Reset Drive Input.
IN7A Set Input 7 to be a Trigger Input.
1CR
1"SET
1"ALL
1"THUMBWHEELS
1"TO
1"ZERO
1CR
1"SET
1"SELECTOR
1"SWITCH_I1-I4
1"&
GOSUB27 Goto Sequence #27 and then return to current sequence.
1"START
1"NEW
1"SEQUENCE
1CR
TRX0 Wait for Trigger 2 (IN7) to be open.
TRX1 Wait for Trigger 2 to be closed.
TRX0 Wait for Trigger 2 to be open.
XT End sequence.
1XE1
1XD1
1"SIMPLE_MOTION_#1
1CR
1"A25_V5_AD25_D25000
1CR
1"G
1CR
A25 Set Acceleration to 25 revolutions per second^2.
V5 Set Velocity to 5 revolutions per second.
AD25 Set Deceleration to 25 revolutions per second^2.
D25000 Set Distance to 25000 steps (5 revolutions).
G Go 25000 steps.
XG16 Goto Sequence #16 (same as GOTO16).
XT
1XE2
1XD2
1"SIMPLE_MOTION_#2
1CR
D0
G If in Absolute mode, Go to original shaft position.
A1
V40
D50000
AD600
G
A600
AD1
V40
D-50000 Go 50000 steps in opposite direction
G
XT
1XE3
1XD3
1"SIMPLE_MOTION_#3
1CR
D0
G
A600
AD600
MC Set Mode to Continuous Motion.
MPP Set Positioning to Profiling Mode
(allowing Acceleration or Velocity changes during motion.
G
VAR1=0 Set Variable 1 to equal 0.
L10 Repeat the following part of this sequence 10 times.
VAR1=VAR1+1 Let Variable 1 = Variable 1 + 1
VAR2=VAR1*5
V(VAR2) Set Velocity to Variable 2.
VAR3=VAR1*5000
D(VAR3) Set Distance to Variable 1 revolutions.
G
T.1 Pause for .1 seconds.
N End of loop section.
XG16
XT
1XE4
1XD4
1"DELICATE_VERTICAL_LIFT_SIMULATION
1CR
MPP
A25
V4
D65000 Wait until motor has reached 325000 steps (6.5 revolutions), then:
AD20
G
DP50000
V1
DP10000
V.5
DP5000
T1 Delay. Wait 1 Second, then:
D-65000
G
DP5000
V1
DP10000
V5
DP50000
NG
XG16
XT
1XE5
1XD5
1"INDEXER_SIMULATION
1CR
XR26 (XR = GOSUB)
1"BEGIN
1"NEW
1"SEQUENCE
1CR
IN6A
VAR1=0
L
A600
VAR1=VAR1+1
V20
D2500
G
T.25
IF(INXXXXXXXX1) If Input 7 = 1 (closed), then:
XG16
NIF
IF(VAR1=10) If Variable 1 = 10, then:
T.5
D-25000
VAR1=0
G
NIF
N
XT
1XE6
1XD6
1"COUTER_SEQUENCE
1CR
IN1N Set Input 1 to be Data Input.
IN2N Set Input 1 to be Data Input.
IN3N Set Input 1 to be Data Input.
IN4N Set Input 1 to be Data Input.
(for thumbwheels)
OUTL1 Set Output Level High.
OUT1J Set Output 1 to be a Strobe Output.
OUT2J Set Output 2 to be a Strobe Output.
OUT3J Set Output 3 to be a Strobe Output.
(for thumbwheels)
STR15 Set Strobe delay to 15 milliseconds.
(for thumbwheels)
A60
V30
AD600
L
1"SET
1"SWITICHES_I1-I4
1"TO
1"ZERO
1CR
XR27
1"TO
1"BEGIN
1CR
TRX0
TRX1
TRX0
1VARD1,035 Set Variable 1 to be Thumbwheel digits 0-3
(ten-millions - ten-thousands)
1VARD2,475 Set Variable 2 to be Thumbwheel digits 4-7
(thousands - ones digit)
VAR3=VAR1/100 Let Variable 3 = Variable 1 / 100
(Variable 3 = forward Revolutions)
VAR4=VAR2/100 Let Variable 4 = Variable 1 / 100
(Variable 4 = forward Revolutions)
VAR5=VAR3*5000 Let Variable 5 = Variable 3 * 5000
(turns revolutions to steps)
VAR6=VAR4*-5000 Let Variable 5 = Variable 3 * -5000
1VAR3 Display Variable 3 on computer screen.
1"TWISTS_FORWARD
1CR
1VAR4
1"TWISTS_REVERSE
1CR
D(VAR5) Set Distance to Variable 5 Steps.
G
T.5
D(VAR6)
G
IF(INXXXXXXX1) If Input 5 = 1 then:
XG16
NIF
N
XT
1XE7
1XD7
1"JOG_SEQUENCE
1CR
IN1L Set Input 1 to be a Jog High/Low selector switch.
IN5J Set Input 5 to be a CW Jog Button.
IN6A Set Input 6 to be a Trigger Input.
IN7K Set Input 7 to be a CCW Jog Button.
1"JOG
1"SPEED
1"HIGH/LOW
1"WITH
1"SWITCH_I1
1CR
1"JOG
1"RIGHT
1"WITH
1"BLACK
1"BUTTON
1CR
1"JOG
1"LEFT
1"WITH
1"GREEN
1"BUTTON
1CR
TR1
TR0
XG16
XT
1XE8
1XD8
1"CONTINUOUS_MOTION_SEQUENCE
1CR
MC Set Mode to Continuous Motion; no distance need be entered.
A25
V10
AD25
XR27
1"BEGIN
1"CONTINUOUS
1"MOTION
1CR
IN5A
IN6R Set 16 to be a Reset ("Z") command.
1N7G Set I7 to be a !GO command.
XR26
1"BEGIN
1"NEW
1"SEQUENCE
TR1 (Pauses program so that start button can be pressed.)
TR0
XT
1XE9
1XD9
1"COMPUTER_INPUT_SEQUENCE_(RSIN)
1CR
MPP
1"ENTER
1"ACCELLERATION
1"!# All numbers entered must start with "!" eg. !25
1CR
VAR1=RSIN (Drive waits for number to be entered
through Computer Terminal.)
A(VAR1)
1"ENTER
1"VELOCITY
1"!#
1CR
VAR2=RSIN
V(VAR2)
1"ENTER
1"DECELERATION
1"!#
1CR
VAR3=RSIN
AD(VAR3)
1"ENTER
1"DISTANCE
1"!#
1CR
VAR4=RSIN
D(VAR4)
1CR
XR27
1"BEGIN
1CR
IN7A
TRX1
TRX0
G
DP(VAR4) Wait for motor to reach Variable 4 number of steps
before proceeding.
XR26
1"BEGIN
1"NEW
1"SEQUENCE
GOTO16
XT
1XE10
1XD10
IN1A
1"TO
1"ENTER
1"ABSOLUTE_MODE_(MPA)
1"SET
1"SWITCH_I1
1"TO
1"1
1CR
1"TO
1"ENTER
1"INCREMENTAL_MODE_(MPI)
1"SET
1"SWITCH_I1
1"TO
1"0
1CR
XR27
1"TO
1"CHOOSE
TRXX0
TRXX1
TRXX0
1CR
1CR
IF(INXXX1) If I1 is set to 1 (closed), then:
MPA Set Mode to Absolute Positioning.
1"YOU
1"ARE
1"IN
1"ABSOLUTE_MODE,
1"ALL
1"DISTANCES
1"ARE
1"FROM
1"SHAFT
1"START-UP
1"POSITION.
1CR
XG16
ELSE If I1 is not set to 1 (switch is open), then:
MPI Set Mode to Incremental Positioning.
1"YOU
1"ARE
1"IN
1"INCREMENTAL_MODE,
1"ALL
1"DISTANCES
1"ARE
1"FROM
1"LAST
1"MOVE
1CR
XG16
NIF
XT
1XE11
1XD11
1"CONNECT
1"RED
1"LEAD
1"FROM
1"VOLT-METER
1"TO
1"TERMINAL_#10
1CR
1"CONNECT
1"BLACK
1"LEAD
1"TO
1"TERMINAL_#11
1"OF
1"I/O(2)
1CR
1"TO
1"MONITOR
1"VELOCITY
1"SET
1"SWITCH_I1
1"TO
1"0
1CR
1"TO
1"MONITOR
1"TORQUE
1"SET
1"SWITCH_I1
1"TO
1"1
1CR
GOSUB27
1"BEGIN
TRX0
TRX1
TRX0
IN1A
IF(INXXX1)
SSR0 Set Analog Output +/-10v, proportional to Motor Torque.
1"YOU_ARE_NOW_MONITORING_TORQUE
1CR
ELSE
SSR1 Set Analog Output +/-10v, proportional to Motor Velocity.
1"YOU_ARE_NOW_MONITORING_VELOCITY
1CR
NIF
XG16
XT
1XE12
1XD12
XG15
XT
1XE13
1XD13
XG15
XT
1XE14
1XD14
XG15
XT
1XE15
1XD15
1"SEQUENCE_NOT_DEFINED
1CR
1"DEAL_WITH_IT.
1CR
XG16
XT
1XE25
1XD25
1"PRESS
1"BLACK
1"BUTTON
1"TO
XT
1XE26
1XD26
1"PRESS
1"RED
1"BUTTON
1"TO
XT
1XE27
1XD27
1"PRESS
1"GREEN
1"BUTTON
1"TO
XT
The Thumbwheels are wired to I1-I4 & O1-03. Four selector--
eg