Saia PCD2.H310, Manual

Page: 107 / 154

PCD2.H31x Application examples
26/762 E2
(2H3-12-E.DOC)
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SAIA-Burgess Electronics Ltd. Page 12-13
;-------------------------------
ST 15 ;Move backwards
I 54 ;Pause 1 elapsed ?
O 55 ;Breakpoint backwards reached ?
LD R 100 ; Target Position
0 ; Absolute value
LD R 101 ; Target Position
30000 ; Absolute Breakpoint
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 ;15
;-------------------------------
ST 16 ;Modify velocity backwards
I 55 ;Breakpoint backwards reached ?
O 56 ;Move backwards 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 ;16
;-------------------------------
ST 17 ;Pause 2
I 56 ;Move backwards ended ?
O 57 ;Pause 2 elapsed ?
ld t 0
50
EST ;17