Manual – IPOSplus®
367
24
"Hoist" sample program
Assembler – Examples
24.2.9 Program source code (with remarks)
NUMERATOR: 2048000 DENOMINATOR: 15708
UNIT: mm
******************************************
Program: hoist
With the first 3 inputs of the option
DIO11A, the drive moves to position
0;1000;2000.
File: Hub 100.mdx
Author: SEW/AWT
Date: 01.06.98
Changed: 01.06.98
Terminal wiring of inputs:----------------
DI00 Controller inhibit
DI01 Enable
DI02 Reset (move LS clear)
DI03 Reference cam
DI04 = CW limit switch
DI05 CCW limit switch
DI10 Hoist position 0 mm
DI11 " 1000 mm
DI12 " 2000 mm
DI13 - - -
DI14 (Jog CW)
DI15 (Jog CCW)
DI16 Reference travel
DI17 Start positioning
Terminal wiring of outputs:----------------
DB00 Brake
DO01 Ready signal
DO16 "IPOS in position"
DO17 "IPOS reference"
Comment
------------------------------------------
Program start
==========================================
Program branch distributor
==========================================
SETINT ERROR M10
M100: CALL M50
JMP LO I0001000000000000, M101
CALL M20
M101: JMP LO I0000010000000000, M102
CALL M30
M102: JMP LO I0000100000000000, M103
CALL M40
M103: JMP UNCONDITIONED , M100
------------------------------------------
Program branch distributor
Activate interrupt routine for hardware limit switch processing
Reset/move clear of limit switch
→ Main program
DI16 = 1 → Reference travel
DI15 = 1 → Jog CW
DI14 = 1 → Jog CCW
Subroutine/move clear of limit switch
==========================================
M10: JMP HI I0000000000110000, M1
M3: JMP HI I0000000000110000, M2
ASTOP IPOS ENABLE
JMP UNCONDITIONED , M3
M2: ASTOP TARGET POSITION
M1 : RET
------------------------------------------
Reset/move clear of limit switch
If drive has not moved onto limit switch (DI04/DI05 Limit switch
CW/CCW), then return to branch distributor. If it has, then unlock
travel and wait until drive has moved clear of limit switch (DI02 –
input terminal function "Reset")
Then stop drive by setting target position to current position
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