Motion Coordinator Technical Reference Manual
Programming Examples 9-5
Example Programs
The operation of the machine is quite simple, the cards are printed at a known
fixed-pitch. Each cycle, the draw rolls must feed the card into position, an out-
put is then fired to operate the punch. An input signals that the punch is clear of
the cards and the cycle can repeat.
In an ideal situation we would simply datum the first card and then move a fixed
pitch every cycle,
loop:
MOVE(card_pitch)
WAIT IDLE
OP(punch,ON)
WAIT UNTIL IN(punch_clear)=OFF
WAIT UNTIL IN(punch_clear)=ON
OP(punch,OFF)
GOTO loop
In the real world we must allow for mechanical slippage and any inconsistencies
which may occur in the printing. Therefore we will use the registration mark to
synchronise the position of the draw each cycle
loop:
DEFPOS(0)
REGIST(3)
MOVE(card_pitch)
WAIT UNTIL MARK
MOVEMODIFY(REG_POS+20)
WAIT IDLE
OP(punch,ON)
WAIT UNTIL IN(punch_clear)=OFF
WAIT UNTIL IN(punch_clear)=ON
OP(punch,OFF)
GOTO loop
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