Saia PCD2.H310, Manual

Page: 43 / 154

PCD2.H31x Quick start
26/762 E2
(2H3-06-E.DOC)
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SAIA-Burgess Electronics Ltd. Page 6-5
Description of programs:
The directive '$include' is used to integrate file 'D2H310_B.equ'. (This
file in turn integrates the 'D2H310_B.mba' file with information about the
number of H31x modules and their base addresses. This happens auto-
matically. The user has nothing to do with it.)
The directive '$group H310' declares the program code up to '$endgroup'
as belonging to PCD2.H31x.
In XOB 16 (coldstart block) module initialization takes place. Before FB
INIT the 3 registers for machine factor, velocity and acceleration should
be loaded. The choice of individual values is explained in chapter 9: 'In-
stallation and commissioning'.
FB INIT is then called. Choosing the 11 parameters is also described in
chapter 9.
The actual motion program occurs in COB 0.
Start is awaited with PCD input 0. To enable current position to be cap-
tured even during this phase and appear on the display, the instruction
'RdActPos' is incorporated in the wait loop. This means that, if the start
condition is not met, the position will be read continuously.
The absolute destination position is loaded into PCD register R 100. This
value is transferred to the module with 'LdDestAbs'. The 'StartMot' com-
mand starts the motion. (20 mm traverse)
In a program loop the position is continuously read with 'RdActPos' and
output to the display via PCD register R 90. Motion takes place accord-
ing to the parameters selected in FB INIT, i.e. the motion is travelled in
the best way, controlled by the module itself, uninfluenced by the user
program, up to the destination point. To allow the program sequence to
continue correctly, it is necessary to determine when motion has con-
cluded. This is done by querying the 'fOnDest_x' flag (fOnDest_1 for
module no. 1 in our case). However, before this flag can be queried, it
must be activated with the 'RdStatRg' instruction.
The program loop that reads or displays current position and activates or
queries the position flag is in a constant cycle until the destination posi-
tion has been reached.
When the destination position has been reached a pause of, e.g. 5 sec-
onds is loaded and waited through. The new destination position (zero) is
then loaded and motion travels back to the starting point.
In order to know the real, current position even during pauses (stabiliza-
tion of final position), it would also be necessary to incorporate the com-
mands 'RdActPos' and 'DSP R 90' into wait loops for these pauses.