ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes
Operation & Software Manual
Direct Drives & Systems 243
15.12 MMC example
M6, M7, M10 and M11 must be monitored to see what happens in this example:
:10.2 ;Label 10
PWR.2=1 ;Power on
WTM.2 ;Waits until the movement is finished
IND.2 ;Starts the homing
WTM.2 ;Waits until the movement is finished
POS.2=30.0000 ;Goes to the position 30 (ISO unit)
WTM.2 ;Waits until the movement is finished
MMD.2=1 ;Sets the S-curve movement
MMC.2=1 ;Selects the concatenated movements mode
:30.2 ;Label 30
POS:1.2=10.0000 ;Goes to the position 10 (ISO unit)
SPD:1.2=50.0000 ;Sets the maximum speed to 50 (ISO unit)
ACC:1.2=500.000 ;Sets the maximum acceleration to 500 (ISO unit)
POS:2.2=0.00000 ;Goes to the position 0 (ISO unit)
SPD:2.2=10.0000 ;Sets the maximum speed to 10 (ISO unit)
ACC:2.2=500.000 ;Sets the maximum acceleration to 500 (ISO unit)
:40.2 ;Label 40
STA.2=1,0x7 ;Starts the movement specified at the depth 1 by using the parameter specified by
the mask 0x7: bit0 (goes to the position 10), bit1 (with a speed of 50) and bit2 (with
an acceleration of 500)
WTT.2=0.2 ;Waits for 0.2 (ISO unit)
STA.2=2,0x7 ;Starts the movement specified at the depth 2 by using the parameter specified by
the mask 0x7: bit0 (goes to the position 0), bit1 (with a speed of 10) and bit2 (with an
acceleration of 500)
WTM.2 ;Waits until the movement is finished
WTT.2=2.00000 ;Waits for 2 (ISO unit)
POS.2=30.0000 ;Goes to the position 30 (ISO unit)
WTM.2 ;Waits until the movement is finished
WTT.2=1.00000 ;Waits for 1 (ISO unit)
JMP.2=40 ;Goes to label 40
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