Multiple Position Trips
Liberty* MCodeMDrive MCode
*Previously Lexium
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. |