Hiwin E1 Series - 9.2.9 Instructions for customized motion

Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual
9-16 HIWIN MIKROSYSTEM CORP.
MD12UE01-2012
9.2.9 Instructions for customized motion
Follow the procedure below to use customized motion.
Important
It is applicable to Thunder 1.6.11.0 and firmware version 2.6.11 or above.
1. Refer to section 9.2.3 and 9.2.4 to activate multi-motion function.
2. Copy the example format below to PDL editing window.
/*The customized PDL sample for multi-motion function*/
#define INIT 0
#define RUN 1
#define END 2
/*Each motion number should be the same as the multi-motion setting in Thunder.*/
#define motion1 1
#define motion2 2
#define motion3 3
#define motion4 4
/*------------------------------main------------------------------*/
#task/01;
MotionSample:
till(CsMotion_Flag = RUN);
if(MotionSel = motion1)do
/*Motion process
Do something*/
CsMotion_Flag = END;
end;
if(MotionSel = motion2)do
/*Motion process
Do something*/
CsMotion_Flag = END;
end;
if(MotionSel = motion3)do
/*Motion process
Do something*/
CsMotion_Flag = END;
end;