376
Manual – IPOSplus®
24
"Table positioning" sample program
Assembler – Examples
Program start
==========================================
Initialization
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SET H300 = 15000
SET H301 = 15000
SET H302 = 1000
SET H303 = 1000
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Set speed and acceleration values for table position-
ing (see variable description in the remarks for the
program source code)
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
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Program branch distributor
Activate interrupt routine for hardware limit switch pro-
cessing reset/move clear of limit switch → main pro-
gram
DI16 = 1 → Reference travel
DI14 = 1 → Jog CW
DI15 = 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
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Reset/move clear of limit switch
If drive has not moved onto limit switch (DI04/DI05
Limit switch CW/CCW), then return to branch distribu-
tor. If it has, then unlock travel and wait until drive has
moved clear of limit switch (parameterized "Reset"
input function DI02).
Then stop drive by setting target position to current
position
Reference subroutine
==========================================
M20: ASTOP IPOS ENABLE
AND H480 & FFFFFFF0 hex
BCLR H480.5 = 0
GO0 U,NW, ZP
M22: JMP LO I0000000000000001, M21
SET H319 = 0
BMOV H319.0 = H473.20
JMP H319 == 0 , M22
M21 : ASTOP TARGET POSITION
RET
------------------------------------------
Reference travel
Travel release
Delete output binary coded table position
Delete output "Table position valid"
Reference travel, no wait, start at zero pulse,
as long as "Controller inhibit" = 0
and the bit in the status word "IPOS Reference" = 0
Subroutine jog mode
==========================================
M30: RET
M40: RET
Option: Subroutine (e.g. jog mode)
Jog CW
Jog CCW
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