ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes
Operation & Software Manual
Direct Drives & Systems 253
15.22 STI example
:10.2 ;Label 10
MMD.2=17 ;Sets the rotary S-curve movement
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=0.00000 ;Goes to the position 0 (ISO unit)
WTM.2 ;Waits until the movement is finished
POS:1.2=100.000 ;Goes to the position 100 (ISO unit)
SPD:1.2=10.0000 ;Sets the maximum speed to 10 (ISO unit)
ACC:1.2=100.000 ;Sets the maximum acceleration to 100 (ISO unit)
K160.2=1 ;DIN 1 is tested to execute the STI command
K161.2=1 ;DIN 1 must be activated to start the movement after the STI command
K164.2=10.0000 ;Defines the time-out limit (10 in ISO unit) between the moment when the STI command
is sent and the moment when DIN 1 = 1.
:30.2 ;Label 30
STI.2=1,0x7 ;Starts the movement, on the rising edge of DIN 1, specified at the depth 1 by using the
parameter specified by the mask 0x7: bit0 (goes to the position 100), bit1 (with a speed
of 10) and bit2 (with an acceleration of 100)
WTM.2 ;Waits until the movement is finished
WTT.2=1.00000 ;Waits for 1 (ISO unit)
POS.2=0.00000 ;Goes to the position 0 (ISO unit)
WTM.2 ;Waits until the movement is finished
JMP.2=30 ;Jumps to label 30
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