Saia PCD2.H310, Manual

Page: 100 / 154

Application examples PCD2.H31x
Page 12-6
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SAIA-Burgess Electronics Ltd.
(2H3-12-E.DOC)
26/762 E2
;-------------------------------
ST 11 ;Home
I 50
I 52
;Home running ?
O 51 ;Home ended ?
O 52 ;Home running ?
set o 71 ; Enable
res fEndHome_1
stl i 65
out fLS1_1
stl i 66
out fLS2_1
ld r 1010
1000
ld r 1011
10000
cfb home
k 1 ; Module number
0 ; search direction
1 ; free run direction
r 1010 ; min. speed
r 1011 ; max. speed
50 ; timeout
i 64 ; input reference switch
EST ;11
;-------------------------------
ST 12
I 51
;Home ended ?
I 57 ;Pause 2 elapsed ?
O 53 ;Start OK ?
EST ;12
;-------------------------------
ST 13 ;Move forwards
I 53 ;Start OK ?
O 54 ;Move forwards ended ?
LD R 100 ; Target Position
60000 ; Absolute value
CFB Exec ; Executable FB
K 1 ; Module number
LdDestAbs ; Command: Load Absolute Destination
R 100 ; Absolute Destination register
CFB Exec ; Executable FB
K 1 ; Module number
StartMot ; Command: Start motion
rNotUsed ; Dummy register
EST ;13
;-------------------------------
ST 14 ;Pause 1
I 54 ;Move forwards ended ?
O 55 ;Pause 1 elapsed ?
ld t 0
50
EST ;14