Etel DSC2P - CAL, RET, POP Example

Operation & Software Manual
234
Direct Drives & Systems
Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
15.3 CAL, RET, POP example
:10.0 ;Label 10
PWR.0=1 ;Power on
WTM.0 ;Waits until the movement is finished
IND.0 ;Starts the homing
WTM.0 ;Waits until the movement is finished
SPD.0=360.0 ;Sets the maximum speed to 360 (ISO unit)
ACC.0=200.0 ;Sets the maximum acceleration to 200 (ISO unit)
:30.0 ;Label 30
POS.0=360.0 ;Goes to the position 360 (ISO unit)
WTM.0 ;Waits until the movement is finished
CAL.0=60 ;Calls the subroutine 60
POS.0=30.0 ;Goes to the position 30 (ISO unit)
WTM.0 ;Waits until the movement is finished
CAL.0=70 ;Calls the subroutine 70
JMP.0=30 ;Jumps to label 30
:60.0 ;Label 60
X1.0=450 ;Sets user’s variable X1 of axis 0 to 450
WTT.0=1.0 ;Waits for 1 (ISO unit)
RET.0 ;Returns to the calling routine
:70.0 ;Label 70
X10.0+=2 ;Adds 2 to the previous value of the user’s variable X10 of the axis 0
X1.0=130 ;Sets user’s variable X1 of axis 0 to 130
WTT.0=1.0 ;Waits for 1 (ISO unit)
RET.0 ;Returns to the calling routine
:80.0 ;Label 70
POP.0 ;Erases the stack
X10.0=0 ;Sets user’s variable X10 of axis 0 to 0
X1.0=0 ;Sets user’s variable X1 of axis 0 to 0
RST.0 ;Resets most of the errors
WTT.0=1.0 ;Waits for 1 (ISO unit)
PWR.0=1 ;Power on
WTM.0 ;Waits until the movement is finished
JMP.0=30 ;Jumps to label 30