The X-Drive and Y-Drive
6-8 DSX™ System Service Manual
6.2.3 Top Level Functional Design
The top-level functional design is presented in Figure 6-6. When the XY program starts, it
initializes the Input/Output ports, the global variables, the position encoders and the Serial
communications sub-function. Then the program enters a continuous loop in which it checks
the Serial port for incoming traffic and corrects the absolute position of the X-Drive and
Y-Drive. On detecting an incoming command, the program decodes it, executes it and replies
with the result.
Start
Initialise
Extract Command
Incoming
Transmission?
Handler Exists?
Execute Command
Prepare Reply
Send Reply
Correct Motor Positions At Idle
YES
Repeat
NO
NO
YES
Figure 6-6 Top-Level Functional Design XY Program
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