Program flow The flowchart below gives a functional overview of what processes the program will employ. The short overview is that the program will ask for some rotations, ask an axis direction, and then perform the move. Once motion is complete, the axis position will be displayed, and the program will ask to repeat or […]
Motion variables and commands covered Variables A – Acceleration D – Deceleration MS – Set microstep resolution VI – Initial velocity VM – Maximum velocity Commands MA – Move to absolute position MR – Move to relative position SL – Slew at constant velocity MCode motion variables A – Acceleration D – Deceleration MS –
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 | 'LIBERTY* MDRIVE DEMO PROGRAM 'Last modified 02/21/2013 'Sample test program for demontsration purposes only 'Not tested or verified for safety or any function 'Distance traveled is V * 12 sec. ' 33 RPM * 0.2 min = 6.6 revs. X 51200 uSteps = 337920 uStp. ' 66 RPM * 0.2 min = 13.2 revs. X 51200 uSteps = 675840 uStp. '100 RPM * 0.2 min = 19.8 revs. X 51200 uSteps = 1013760 uStp. ' Slew Rate is V/60 * 51200 uSteps/sec. ' 33 RPM /60 Sec. X 51200 uSteps = 28160 uStp./Sec. ' 66 RPM /60 Sec. X 51200 uSteps = 56320 uStp./Sec. '100 RPM /60 Sec. X 51200 uSteps = 85333 uStp./Sec. 'Step 1 V=33RPM 'Step 2 V=66RPM 'Step 3 V=100RPM 'Step 4 V=66RPM 'Step 5 V=33RPM 'Step 6 V=-33RPM 'Step 7 V=-66RPM 'Step 8 V=-100RPM 'Step 9 V=-66RPM 'Step 10 V=-33RPM 'STEPS ' 1 2 3 4 5 6 7 8 9 10 ' ____ ' ____| |____ ' ___| |___ '_|______________________|______________________________Ds ' |___ ____| ' |____ ____| ' |____| '[VARIABLES] VA Sp=33*51200/60 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m VA Ds=50000 'Length of first step. '[PROGRAMS] PG 1 R1=0 P=0 'set position counter to 0 LB Aa PR "" PR "Starting Step 1 P=",P," V=",V Tp Ds,X1 Te=2 Vm=Sp 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m MA Ds*9,0,1 LB G1 BR G1,R1=0 R1=0 BR Aa E '[SUBROUTINES] 'Each sub will move a dist at a velocity 'then redefine and re-enable the trip 'Step 2 speed 66 RPM * 51200 Stp/rev /60 s/m LB X1 PR " Starting Step 2 P=",P," V=",V Vm= Sp*2 MA Ds*9,0,1 Tp Ds*3,X2 Te=2 RT 'Step 3 speed 100 RPM * 51200 Stp/rev /60 s/m LB X2 PR " Starting Step 3 P=",P," V=",V Vm= Sp*3 MA Ds*9,0,1 Tp Ds*6,X3 Te=2 RT 'Step 4 speed 66 RPM * 51200 Stp/rev /60 s/m LB X3 PR " Starting Step 4 P=",P," V=",V Vm= Sp*2 MA Ds*9,0,1 Tp Ds*8,X4 Te=2 RT 'Step 5 speed 33 RPM * 51200 Stp/rev /60 s/m LB X4 PR " Starting Step 5 P=",P," V=",V Vm= Sp MA Ds*9 ',0,1 Tp Ds*9,X5 Te=2 RT 'Step 6 speed 33 RPM * 51200 Stp/rev /60 s/m LB X5 PR " Starting Step 6 P=",P," V=",V Vm= Sp MA 0,0,1 Tp Ds*8,X6 Te=2 RT 'Step 7 speed 66 RPM * 51200 Stp/rev /60 s/m LB X6 PR " Starting Step 7 P=",P," V=",V Vm= Sp*2 MA 0,0,1 Tp Ds*6,X7 Te=2 RT 'Step 8 speed 100 RPM * 51200 Stp/rev /60 s/m LB X7 PR " Starting Step 8 P=",P," V=",V Vm= Sp*3 MA 0,0,1 Tp Ds*3,X8 Te=2 RT 'Step 9 speed 66 RPM * 51200 Stp/rev /60 s/m LB X8 PR " Starting Step 9 P=",P," V=",V Vm= Sp*2 MA 0,0,1 Tp Ds,X9 Te=2 RT 'Step 10 speed 33 RPM * 51200 Stp/rev /60 s/m LB X9 PR " Starting Step 10 P=",P," V=",V Vm= Sp MA 0 H PR " Back at Start P=",P," V=",V R1=1 RT PG S 'Keep this line. |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 | 'MDRIVE DEMO PROGRAM 'Last modified 08/25/2016 'Sample test program for demonstration purposes only 'Not tested or verified for safety or any function CP 'preclear program memory '*** Sample test program for demonstration purposes only. '*** Not tested or verified for safety or any function. '*** Such testing is the sole responsibility of user/customer '*** Speed steps are a rough aproximation of a sine wave. '*** Peak RPM= 100 '*** 5 steps in one minute. '*** Each step is 0.2 or 12 seconds '*** Distance traveled is V * 12 sec. ' 33 RPM * 0.2 min = 6.6 revs. X 51200 uSteps = 337920 uStp. ' 66 RPM * 0.2 min = 13.2 revs. X 51200 uSteps = 675840 uStp. '100 RPM * 0.2 min = 19.8 revs. X 51200 uSteps = 1013760 uStp. '*** Slew Rate is V/60 * 51200 uSteps/sec. ' 33 RPM /60 Sec. X 51200 uSteps = 28160 uStp./Sec. ' 66 RPM /60 Sec. X 51200 uSteps = 56320 uStp./Sec. '100 RPM /60 Sec. X 51200 uSteps = 85333 uStp./Sec. 'Step 1 V=33RPM 'Step 2 V=66RPM 'Step 3 V=100RPM 'Step 4 V=66RPM 'Step 5 V=33RPM 'Step 6 V=-33RPM 'Step 7 V=-66RPM 'Step 8 V=-100RPM 'Step 9 V=-66RPM 'Step 10 V=-33RPM 'STEPS ' 1 2 3 4 5 6 7 8 9 10 ' ____ ' ____| |____ ' ___| |___ '_|______________________|______________________________Ds ' |___ ____| ' |____ ____| ' |____| '*** Parameter Setup *** VA Sp=33*51200/60 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m VA Ds=50000 'Length of first step. '*** Program *** PG 1 R1=0 P=0 'set position counter to 0 LB Aa PR "" PR "Starting Step 1 P=",P," V=",V Tp Ds,X1 'Set set up trip on position function Te=2 'enable trip on position function Vm=Sp 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m MA Ds*9,0,1 'Move Absolute but keep going at end of move LB G1 BR G1,R1=0 R1=0 BR Aa E '*** Trip Subroutines *** LB X1 PR " Starting Step 2 P=",P," V=",V Vm= Sp*2 'Step 2 speed 66 RPM * 51200 Stp/rev /60 s/m MA Ds*9,0,1 'Move Absolute but keep going at end of move Tp Ds*3,X2 'redefine trip Te=2 'enable it RT LB X2 PR " Starting Step 3 P=",P," V=",V Vm= Sp*3 'Step 3 speed 100 RPM * 51200 Stp/rev /60 s/m MA Ds*9,0,1 'Move Absolute but keep going at end of move Tp Ds*6,X3 'redefine trip Te=2 'enable it RT LB X3 PR " Starting Step 4 P=",P," V=",V Vm= Sp*2 'Step 4 speed 66 RPM * 51200 Stp/rev /60 s/m MA Ds*9,0,1 'Move Absolute but keep going at end of move Tp Ds*8,X4 'redefine trip Te=2 'enable it RT LB X4 PR " Starting Step 5 P=",P," V=",V Vm= Sp 'Step 5 speed 33 RPM * 51200 Stp/rev /60 s/m MA Ds*9 ',0,1 'Move Absolute but keep going at end of move Tp Ds*9,X5 'redefine trip Te=2 'enable it RT LB X5 PR " Starting Step 6 P=",P," V=",V Vm= Sp 'Step 6 speed 33 RPM * 51200 Stp/rev /60 s/m MA 0,0,1 'Move Absolute but keep going at end of move Tp Ds*8,X6 'redefine trip Te=2 'enable it RT LB X6 PR " Starting Step 7 P=",P," V=",V Vm= Sp*2 'Step 7 speed 66 RPM * 51200 Stp/rev /60 s/m MA 0,0,1 'Move Absolute but keep going at end of move Tp Ds*6,X7 'redefine trip Te=2 'enable it RT LB X7 PR " Starting Step 8 P=",P," V=",V Vm= Sp*3 'Step 8 speed 100 RPM * 51200 Stp/rev /60 s/m MA 0,0,1 'Move Absolute but keep going at end of move Tp Ds*3,X8 'redefine trip Te=2 'enable it RT LB X8 PR " Starting Step 9 P=",P," V=",V Vm= Sp*2 'Step 9 speed 66 RPM * 51200 Stp/rev /60 s/m MA 0,0,1 'Move Absolute but keep going at end of move Tp Ds,X9 'redefine trip Te=2 'enable it RT LB X9 PR " Starting Step 10 P=",P," V=",V Vm= Sp 'Step 10 speed 33 RPM * 51200 Stp/rev /60 s/m MA 0 'Move Absolute to beginning H 'Hold until motion stops PR " Back at Start P=",P," V=",V R1=1 RT PG S 'Keep this line. |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 | 'MDRIVE DEMO PROGRAM 'Last modified 08/25/2016 'Sample test program for demonstration purposes only 'Not tested or verified for safety or any function '***** Electronic Gearing ***** PG 1 LB k4 PR "Electonic Gearing" Rc=50 'set run current to 50% S7=33,0 'Sets clock type to step input S8=33,0 'Sets clock type to direction input Fm=3 'set filter motion to 1.67 Mhz cutoff freq. Ms=16 'Set microstep resolution to 16 Cm=1 'Clock mode enable Cr=1.000 'Set clock mode ratio to 1:1 E PG s 'keep this line |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 | 'MDRIVE DEMO PROGRAM 'Last modified 08/25/2016 'Sample test program for demonstration purposes only 'Not tested or verified for safety or any function CP 'preclear program memory 'Motion Sample 'CODE DESCRIPTION PG 100 'Enter program mode at address 100 LB M1 'Label program M1 P=0 'Set position counter to 0 MR 200000 'Set motion mode to relative, 'move relative 200000 H 'Hold until motion is complete PR P 'Print position to terminal E 'End program PG 'Exit program mode |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 | 'MDRIVE DEMO PROGRAM 'Last modified 08/25/2016 'Sample test program for demonstration purposes only 'Not tested or verified for safety or any function CP 'preclear program memory '****Global Setup Variables**** S5=9,0 '****Main Program**** PG 1 'will call subroutines LB aa 'that will initiate a CL za, I5<485 'move command based on CL zb, I5>515 'ain voltage level 600mv BR aa 'deadband '****Subroutines***** LB za 'ma to point if ain MA 200000 'voltage less than 2.5v H RT LB zb 'ma to point if ain MA -200000 'voltage more than 2.5v H RT E PG |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 | 'MDRIVE DEMO PROGRAM 'Last modified 08/25/2016 'Sample test program for demonstration purposes only 'Not tested or verified for safety or any function CP 'preclear program memory '*****Turntable Program***** 'Find shortest route to absolute position '***Operation*** 'Enter desired position in .01 deg (180 deg = 18000)into 'V1 variable (V1=18000) 'Execute program at address 1 (EX 1) 'This program sets up a matrix to find distance and Direction 'It compares whether the Current Position is > than 'the Requested Position and Whether the requested move is '>180 deg. 'Move < 180 deg AND CurPos>ReqPos = CCW 'Move < 180 deg AND CurPos<ReqPos = CW 'Move > 180 deg AND CurPos>ReqPos = CW 'Move > 180 deg AND CurPos<ReqPos = CCW '****Variable Declarations**** Ms=180 'Set to 36000 steps/rev (.01 deg) VA V1 'Requested Position Setpoint VA V2 'Move Amount VA V3 'Move Direction VA V4 VA V5 'Final Move Setpoint VA V6 'Current Pos VS Requested Pos Matrix value VA V7 'Move Amount >180 deg Matrix value VA V8 'Matrix Resolution Value '****Program**** PG 1 ' Start program LB L1 V2=P-V1 'Find the Move Distance 'PR "v2="v2 BR L2,V2<0 'Branch if Current Pos<Requested Pos V6=1 'Set Matrix Value if CurPos>ReqPos LB L3 'Move Routine BR L5, V2>18000 'Branch if move is > 180 deg V7=0 'Set Matrix Value if Move < 180 deg LB L10 BR L8 'Branch to Matrix resolution LB L6 V5=V3*V2 'Final Move = Distance*Polarity MR V5 'Mave Move CL L7 'Wait until Move Complete P=V1 'Set Current Position to Absolute BR L4 'Go to finish LB L2 'Current Position>Requested Position V2=V2*-1 'ABS Move distance V6=0 'Set Matrix Value BR L3 'Branch back to Move Routine LB L5 'Shortest Distance Routine V2=36000-V2 'Set Shortest distance if move > 180 deg V7=1 ' Set >180 deg Matrix value BR L10 ' Return to Move Routine LB L8 'Matrix Resolution V8=V6+V7 'Find sum of Matrix Values BR L9,V8=1 'Branch if move should be CCW V3=1 'Set move flag to be CW BR L6 'Return to Move Routine LB L9 'Set CCW Move V3=-1 'Set move flag to be CCW BR L6 'Return to Move Routine LB L7 'Wait for Move Complete H 10 '10ms Hold BR L7, Mv=1 'Loop if still Moving RT 'Return LB L4 'Finish E PG |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 | 'MDRIVE DEMO PROGRAM 'Last modified 08/25/2016 'Sample test program for demonstration purposes only 'Not tested or verified for safety or any function CP 'preclear program memory 'Motion Sample 'CODE DESCRIPTION PG 100 'Enter program mode at address 100 LB M1 'Label program M1 P=0 'Set position counter to 0 MR 200000 'Set motion mode to relative, 'move relative 200000 H 'Hold until motion is complete PR P 'Print position to terminal E 'End program PG 'Exit program mode |
