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Closed loop on error

Description

This program illustrates closed loop control with an On Error (OE) routine which will perform math functions on the counters to display the position error.

The code shown on the right may be copied and pasted into the program editor window of the Motion Control Programmer application, or a zip file containing the program files may be downloaded below.

Requirements

Example program

Liberty* MCodeMDrive MCode

'LIBERTY* MDRIVE DEMO PROGRAM
'Last modified 02/21/2013
'Sample test program for demonstration purposes only
'Not tested or verified for safety or any function
'[VARIABLES]
Rc=80
Mt=50
'enable encoder functions, configure stall settings
Ee=1
Sf=15
Sm=0
'motion variables are scaled 
'to encoder counts instead of microsteps
A=20000
D=A
Vi=2048
Vm=15000
'user variable created to hold move count
VA Q1
'[PROGRAMS]
'program block Ga sets the on 
'error handle routine to call K1
PG 1
  LB Ga
      OE K1
      P=0
      
    'program block Gb contains the 
    'motion loop which will run 100 times  
  LB Gb 
      MR 51200
      H
      H 500
      MR -51200
      H
      H 500
      IC Q1
      BR Gb,Q1<100
      CL K1
    E
  
  '[SUBROUTINES]
  'Subroutine K1 sets the response 
  'for the on-error handler. It will 
  'perform some math to determine the 
  'position error in encoder counts, 
  'as well as display the error # if 
  'one occurs.
  LB K1
      R3=C1/25
      R1=R3 - C2
      PR "Counts error = ",R1
      PR "Error = ",Er
      Er=0
      H 20
      RT
  
  PG
S
'Keep this line to save program on load
'[END]

'LIBERTY* MDRIVE DEMO PROGRAM

'Last modified 02/21/2013

'Sample test program for demonstration purposes only

'Not tested or verified for safety or any function

'[VARIABLES]

Rc=80

Mt=50

'enable encoder functions, configure stall settings

Ee=1

Sf=15

Sm=0

'motion variables are scaled

'to encoder counts instead of microsteps

A=20000

D=A

Vi=2048

Vm=15000

'user variable created to hold move count

VA Q1

'[PROGRAMS]

'program block Ga sets the on

'error handle routine to call K1

PG 1

LB Ga

OE K1

P=0

'program block Gb contains the

'motion loop which will run 100 times

LB Gb

MR 51200

H 500

MR -51200

H 500

IC Q1

BR Gb,Q1<100

CL K1

'[SUBROUTINES]

'Subroutine K1 sets the response

'for the on-error handler. It will

'perform some math to determine the

'position error in encoder counts,

'as well as display the error # if

'one occurs.

LB K1

R3=C1/25

R1=R3 - C2

PR "Counts error = ",R1

PR "Error = ",Er

Er=0

H 20

'Keep this line to save program on load

'[END]

'MDRIVE DEMO PROGRAM
'Last modified 02/21/2013
'Sample test program for demonstration purposes only
'Not tested or verified for safety or any function
'[VARIABLES]
Rc=80
Mt=50
'enable encoder functions, configure stall settings
Ee=1
Sf=15
Sm=0
'motion variables are scaled 
'to encoder counts instead of microsteps
A=20000
D=A
Vi=2048
Vm=15000
'user variable created to hold move count
VA Q1
'[PROGRAMS]
'program block Ga sets the on 
'error handle routine to call K1
PG 1
  LB Ga
      OE K1
      P=0
      
    'program block Gb contains the 
    'motion loop which will run 100 times  
  LB Gb 
      MR 51200
      H
      H 500
      MR -51200
      H
      H 500
      IC Q1
      BR Gb,Q1<100
      CL K1
    E
  
  '[SUBROUTINES]
  'Subroutine K1 sets the response 
  'for the on-error handler. It will 
  'perform some math to determine the 
  'position error in encoder counts, 
  'as well as display the error # if 
  'one occurs.
  LB K1
      R3=C1/25
      R1=R3 - C2
      PR "Counts error = ",R1
      PR "Error = ",Er
      Er=0
      H 20
      RT
  
  PG
S
'Keep this line to save program on load
'[END]

'MDRIVE DEMO PROGRAM

'Last modified 02/21/2013

'Sample test program for demonstration purposes only

'Not tested or verified for safety or any function

'[VARIABLES]

Rc=80

Mt=50

'enable encoder functions, configure stall settings

Ee=1

Sf=15

Sm=0

'motion variables are scaled

'to encoder counts instead of microsteps

A=20000

D=A

Vi=2048

Vm=15000

'user variable created to hold move count

VA Q1

'[PROGRAMS]

'program block Ga sets the on

'error handle routine to call K1

PG 1

LB Ga

OE K1

P=0

'program block Gb contains the

'motion loop which will run 100 times

LB Gb

MR 51200

H 500

MR -51200

H 500

IC Q1

BR Gb,Q1<100

CL K1

'[SUBROUTINES]

'Subroutine K1 sets the response

'for the on-error handler. It will

'perform some math to determine the

'position error in encoder counts,

'as well as display the error # if

'one occurs.

LB K1

R3=C1/25

R1=R3 - C2

PR "Counts error = ",R1

PR "Error = ",Er

Er=0

H 20

'Keep this line to save program on load

'[END]

*Previously Lexium

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Closed loop on error

Description

Requirements

Example program

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