ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes
Operation & Software Manual
Direct Drives & Systems 247
15.16 REI: RTI example
:10.2 ;Label 10
K190.2=0 ;Disables the RTI mode of the controller
K191.2=0 ;No RTI line validated
K192.2=0 ;No RTI line enabled
K193.2=0 ;Clears the flag if one RTI has been activated
:20.2 ;Label 20
R0:8.2=20 ;Type of RTI: 'Test on the value’
R0:9.2=60 ;Jumps to label 60
R0:10.2=1 ;Clears all the WAIT commands
R0:1.2=0x10001 ;The user’s variable X1 is the register to be tested (corresponds to the first parameter
(P1) of this type of RTI)
R0:2.2=0x0000A ;10 is the value of comparison (corresponds to the second parameter (P2) of this type
of RTI)
R0:3.2=130 ;Jumps to label 60 if X1=10 (if P1=P2) (corresponds to the third parameter (P3) of
this type of RTI)
R0:4.2=0x10002 ;Sets to 1 the bit#0 of the user’s variable X2
:30.2 ;Label 30
K190.2=1 ;Enables the RTI mode of the controller
K191.2=0x1 ;The first line (R0) of the RTI is validated
K192.2=0x1 ;The first line (R0) of the RTI is enabled
:40.2 ;Label 40
X1.2=0 ;Sets user’s variable X1 of axis 2 to 0
X2.1=0 ;Sets user’s variable X2 of axis 1 to 0
WTT.2=2.00000 ;Waits for 2 (ISO unit)
:45.2 ;Label 45
X1.2+=1 ;Adds 1 to the previous value of the user’s variable X1 of the axis 2
WTT.2=2.00000 ;Waits for 2 (ISO unit)
JMP.2=45 ;Jumps to label 45
:60.2 ;Label 60
X100.2=25 ;Sets user’s variable X100 of axis 2 to 25
WTT.2=2.00000 ;Waits for 2 (ISO unit)
X100.2=0 ;Sets user’s variable X100 of axis 2 to 0
WTT.2=2.00000 ;Waits for 2 (ISO unit)
X1.2=0 ;Sets user’s variable X1 of axis 2 to 0
X2.2=0 ;Sets user’s variable X2 of axis 2 to 0
K193.2=0 ;Clears the flag if one RTI has been activated
REI.2 ;The sequence returns to the line which follows the last executed line before the call
of the RTI label
Remark: The REI command executes the RIE and the RET commands within one instruction
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