Saia PCD2.H310, Manual

Page: 106 / 154

Application examples PCD2.H31x
Page 12-12
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SAIA-Burgess Electronics Ltd.
(2H3-12-E.DOC)
26/762 E2
;-------------------------------
ST 12 ;Move forwards
I 51 ;Start OK ?
O 52 ;Breakpoint forwards reached ?
LD R 100 ; Target Position
60000 ; Absolute value
LD R 101 ; Breakpoint Position
30000 ; Absolute value
LD R 102 ; Speed
100000 ; 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
LdBrkPtAbs ; Command: Load Absolute Breakpoint
R 101 ; Absolute Destination register
CFB Exec ; Executable FB
K 1 ; Module number
LdVelAbs ; Command: Load absolute Velocity
R 102 ; Speed
CFB Exec ; Executable FB
K 1 ; Module number
StartMot ; Command: Start motion
rNotUsed ; Dummy register
EST ;12
;-------------------------------
ST 13 ;Modify velocity forwards
I 52 ;Breakpoint forwards reached ?
O 53 ;Move forwards ended ?
LD R 102 ; Speed
20000 ; Absolute value
CFB Exec ; Executable FB
K 1 ; Module number
LdVelAbs ; Command: Load absolute Velocity
R 102 ; Speed
CFB Exec ; Executable FB
K 1 ; Module number
StartMot ; Command: Start motion
rNotUsed ; Dummy register
EST ;13
;-------------------------------
ST 14 ;Pause 1
I 53 ;Move forwards ended ?
O 54 ;Pause 1 elapsed ?
ld t 0
50
EST ;14