Control Techniques Epsilon EP-P, Reference Manual

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Epsilon EP-P Drive Reference Manual
143
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Revision A4 www.controltechniques.com
If((DriveInput.4=OFF) AND (DriveOutput.4=ON)) Then
DriveOutput.4=OFF
Endif
Loop
Sequence Learn and Playback
This example consists of three programs. The first program is used to learn 3 positions using “Jog+”, “Jog-“, “Jog Fast” and
“Learn” inputs. The second program is called several times by the first program. The third program steps through the learned
positions
Learn Program (Program 0)
Home.0.Initiate ‘Sensor,Offset=0.000in,Vel=-10in/s
Index.1.Initiate ‘Move to position 1
Wait For Index.AnyCommandComplete
Call Program.1 ‘Program 1 allows the axis to be jogged
‘into position
If (DriveInput.1=ON) Then ‘Learn the new position if the “Learn”
‘input is on
Index.1.Dist = PosnCommand ‘Read the Position Command into Index.1’s
‘absolute position.
Endif
Wait For DriveInput.1=OFF
‘Wait until the “Learn” input goes off
Wait For DriveInput.2=OFF ‘Wait until the “Skip” input goes off
Index.2.Initiate ‘Move to position 2
Wait For Index.AnyCommandComplete
Call Program.1 ‘Program 1 allows the axis to be jogged
‘into position
If (DriveInput.1=ON) Then ‘Learn the new position if the “Learn”
‘input is on
Index.2.Dist = PosnCommand ‘Read the Position Command into Index.2’s
‘absolute position.
Endif
Wait For DriveInput.1=OFF
‘Wait until the “Learn” input goes off
Wait For DriveInput.2=OFF ‘Wait until the “Skip” input goes off
Index.3.Initiate ‘Move to position 3
Wait For Index.AnyCommandComplete
Call Program.1 ‘Program 1 allows the axis to be jogged
‘into position
If (DriveInput.1=ON) Then ‘Learn the new position if the “Learn”
‘input is on
Index.3.Dist = PosnCommand ‘Read the Position Command into Index.3’s
‘absolute position.
Endif
Wait For DriveInput.1=OFF
‘Wait until the “Learn” input goes off
Wait For DriveInput.2=OFF ‘Wait until the “Skip” input goes off
Subroutine for Jogging the Axis into the Desired Position (Program 1)
‘Allow jogging until either the “Learn” input (DriveInput.1)
‘or the “Skip” input (DriveInput.2) goes ON.
Do While ((DriveInput.1=OFF) AND (DriveInput.2=OFF))
If (DriveInput.3=ON) Then ‘Jog+ if the Jog+ input is on
Jog.0.PlusInitiate ‘Vel=0.1in/s
Do While (DriveInput.3=ON)
If (DriveInput.5=ON) Then
‘DriveInput.5 = “Jog Fast”
Jog.0.Vel = 1.0 ‘in/s
Else
Jog.0.Vel = 0.1
‘in/s