Hiwin D1-N Series - Page 165

Assembly and Commissioning Instructions Servo amplifier D1-N  15.10.2015
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Example 3: Simple relative positioning between 2 positions with zero point
correction
#task/1; // First task; this task runs immediately after controller initialisation
call _sequence program; // Program called “_sequence program” is called up
ret;
_sequence program:
till(X_en=1); // Wait for controller enable and/or until motor is energised
till(X_I_flag=2); // Wait for index mark of motor once reference travel has been started
// Reference travel is permanently assigned in “Lightening” and is started via a dig. input
X_trg = 107888; // Zero point correction, motor positioned absolutely
sleep 500; // Pause 500 ms
X_locate_pos=0; // Machine zero point
seton O3; // Message that reference travel is complete; set output O3
sleep 500; // Pause 500 ms
setoff O3; // Reset output O3
_Loop: // Label name for jumping to end of program
till(I5); // Wait until input I5 is activated
X_trg += 720896; // Relative position in positive direction in increments
till(~X_run); // Wait until motor is no longer moving
till(I5);
X_trg -= 1441792; // Relative position in negative direction in increments
till(~X_run);
goto _Loop; // Program jump
ret;
Example 4: Use of customer-specific variables, motion profile parameters, IF-
ELSE DO conditions and stop command.
//######### Custom variable = Cycle counter and automatic stop once the
Stop
conditions are reached #########
#long ciclo; // Cycle variable
#long numero; // Number variable
#task/1;
X_vel_max = 1000000; // Max. speed in incr./s
X_acc = 20000000; // Max. acceleration in incr./s²
X_dcc = 20000000; // Max. deceleration in incr./s²
X_new_sm_fac=50; // Jerk limitation
X_max_err = 32000; // Max. position error before motor commutation in incr.
ciclo = 0; // Set cycle variable to zero
numero = 0; // Set number variable to zero
till(X_en=1 & X_dcbl); // Wait until motor commutation takes place
till(~X_run); // Wait until motor is not moving
sleep 1000; // Wait 1000 ms
X_locate_pos = 0; // Position = set 0
_Test1: // Jump mark
sleep 300; // Wait 300 ms
X_max_err = 700; // Max. position error in motion in incr.
X_trg = 58000; // Position absolute 25,000 inc. = 25 mm
till(~X_run & X_en=1 ); // Wait until motor is not moving but is still energised
sleep 300; // Wait 1000 ms
X_max_err = 700; // Max. position error in motion in incr.
X_trg = 1000; // Position absolute 5,000 inc. = 5 mm
till(~X_run & X_en=1 ); // Wait until motor is not moving but is still energised