Parker Hannifin
PROG0
PROGRAM
REM: Setup the network update rate
PERIOD = 0.0005
REM: Setup the number of controlled nodes
P37376 = 2
REM: Setup node ID for EPLD0
P37632 = 100
REM: Setup node ID for EPLD1
P37648 = 101
REM: Start the EPL network, wait for completion, then test
state for errors
SET 16640
INH –16640
IF (P37384 <>5)
PRINT “Network Start Failed”
GOTO ApplicationEnd
ENDIF
REM: Create attachments for X, Y, Z
ATTACH MASTER 0
ATTACH SLAVE0 AXIS0 “X”
ATTACH SLAVE1 AXIS1 “Y”
ATTACH SLAVE2 AXIS2 “Z”
ATTACH AXIS0 EPLD0
ATTACH AXIS1 EPLD1
ATTACH AXIS2 ENC0 DAC0
REM: Set up gains, for X, Y, Z
PGAIN X0.001 Y0.001 Z.0.001
DGAIN X0.0003 Y0.0003 Z0.0003
IGAIN X0.01 Y0.01 Z0.01
REM: All drive I/O and motion is the same for EPLD as for
traditional
DRIVE ON X Y Z
JOG HOME X1 Y1 Z1
REM: Wait for jog moves to finish, then go to an XYZ
position
INH 16134
INH 16166
INH 16198
MOVE X5 Y-2 Z8
_ApplicationEnd
ENDP
Appendix H ETHERNET Powerlink 181
www.comoso.com
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