105
******* Sector I_Force 3 ***************
Sector IForce Start = 158
Sector IForce End = 178
IForce Low x10mA = 119
IForce High x10mA = 121
Sector Transit Config = 8320
******* Sector I_Force 4 ***************
Sector IForce Start = 162
Sector IForce End = 182
IForce Low x10mA = 139
IForce High x10mA = 141
Sector Transit Config = 8320
No „EXIT“
Ending position has to be in sector.
******* Sector I_Force 5 ***************
Sector IForce Start = 170
Sector IForce End = 185
IForce Low x10mA = 148
IForce High x10mA = 152
Sector Transit Config = 12288
Referencing and driving to position 0, INDEX 1
******* Program 1 ******
Line 1 REFERENCE
Line 2 INDEX 1, DEVICE = LOCAL COMPLETION = 100%
Calibration of linear motor slide by recording all forces
(cogging, friction, weight etc.)
******* Program 2 ******
Line 1 FORCE CALIBRATION POSITION START = 0 POSITION END =
50000
Entire testing process with analysis of result
Reset output status display
Initializing sector offset to 0 (not mandatory)
Selected sectors 0 (not mandatory)
Drive to position 0, all the way to the top
Drive to position 30000, fast driving to pre-position
Drive to touching position with little force (0.5N)
Short wait time, in case the force has been exceeded while
accelerating (when using little forces).
Wait until LIMIT I_FORCE is reached. If there is no touching
position during timeout frame, jump to error
“no object in place”, o
utput 1 ON
Short wait time in order to stabilize touching position
Takes touching position as offset for the following tests
Selecting sectors 1-5
Change I_FORCE forcurrent Drive I_Force from, 6 to 150 =
12.5N
Timeout in case that force is not reached, then no output no 5.
Short wait time after force reaches limit to
“stabilize”.
Drive I_Force ends
Testing the selected sectors, in case of an error, jump to error
output 5 ON, meaning testing object OK
******* Program 3 ******
Line 1 CLEAR OUTPUT 1 M/SLAVE DEVICE = LOCAL
Line 2 CLEAR OUTPUT 2 M/SLAVE DEVICE = LOCAL
Line 3 CLEAR OUTPUT 5 M/SLAVE DEVICE = LOCAL
Line 4 SET SECTOR OFFSET POSITION = 0
Line 5 SELECT SECTORS 0
Line 6 INDEX 1 LOCAL COMPLETION = 100%
Line 7 INDEX 2 LOCAL COMPLETION = 100%
Line 8 DRIVE I_FORCE 1
Line 9 WAIT TIME TIME [ms] = 50
Line 10 WAIT LIMIT I_FORCE TIMEOUT = 2000ms LINE = 23
Line 11 WAIT TIME TIME [ms] = 20
Line 12 TAKE POS AS SECTOR OFFSET
Line 13 SELECT SECTORS 11111
Line 14 CHANGE LIMIT I_FORCE I_FORCE = 150
Line 15 WAIT LIMIT I_FORCE TIMEOUT = 2000ms LINE = 26
Line 16 WAIT TIME TIME [ms] = 20
Line 17 DRIVE I_FORCE END
Line 18 JUMP IF I_FORCE SECT FAULT LINE = 25
Line 19 SET OUTPUT 5 M/SLAVE DEVICE = LOCAL
Line 20 SELECT SECTORS 0
Line 21 INDEX 1 LOCAL COMPLETION = 100%
Line 22 PROGRAM END
Line 23 SET OUTPUT 1 M/SLAVE DEVICE = LOCAL
Line 24 GOTO LINE 26
Line 25 SET OUTPUT 2 M/SLAVE DEVICE = LOCAL
Line 26 DRIVE I_FORCE END
Line 27 INDEX 1 = LOCAL COMPLETION = 100%
