Saia PCD2.H310, Manual

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Quick start PCD2.H31x
Page 6-10
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SAIA-Burgess Electronics Ltd.
(2H3-06-E.DOC)
26/762 E2
Explanatory notes to the program
Knowledge of the PG4 in general and GRAFTEC in particular is as-
sumed.
During assembly, sequential block SB 0 is called automatically from a
COB.
The course of the GRAFTEC program can be viewed online.
Initialization of the H310 module takes place in IST 10. In the arrange-
ment chosen, this IST is only processed when the SB is called for the first
time, like XOB 16. It makes sense if initialization of the H310 module
takes place in the IST of whichever SB deals with the module, so that the
whole program routine stays together. XOB 16 is preferred for carrying
out initializations that apply to the whole PCD.
In ST 12 and ST 14 the absolute destination position is loaded via PCD
register R 100 into the H310 module and motion is started.
In TR 52 and TR 54 the end of a motion is queried from software so that
the program can be released to continue its course. Motion itself is con-
trolled directly by the module. Before querying the continuation condi-
tion (sth fOnDest_1) the current position is read and output to the dis-
play, and the 'fOnDest_1' flag is refreshed with 'RdStatRg'. In accordance
with GRAFTEC rules, for every unfulfilled TR (e.g. destination position
not yet reached) the program returns to the calling COB and continues
working. At the next program cycle the unfulfilled TR is processed again
in full . This ensures that the position is read and displayed automatically
each time and that the 'fOnDest_1' flag is refreshed.
To be correct, the position in an experimental set-up should also be read
and displayed during pauses, so that carriage status can be viewed even
during stabilization.