Lenze E94P PositionServo with MVOB Manual do Utilizador descarregar pdf (Página 131)

PM94H201B_13xxxxxx_EN L 129

Reference

Example Internal Positioning Program

;********************************************** HEADER **********************************************

;Title: Pick and Place example program

;Author: 940 Product Management

;Description: This is a sample program that shows a simple application that

; picks up a part moves to a set position and drops the part

;******************************************** I/O List ********************************************

; Input A1 - not used

; Input A2 - not used

; Input A3 - Enabled

; Input A4 - not used

; Input B1 - not used

; Input B2 - not used

; Input B3 - not used

; Input B4 - not used

; Input C1 - not used

; Input C2 - not used

; Input C3 - not used

; Input C4 - not used

;

; Output 1 - Pick Arm

; Output 2 - Gripper

; Output 3 - not used

; Output 4 - not used

;******************************** Initialize and Set Variables **************************************

UNITS = 1

ACCEL = 75

DECEL =75

MAXV = 10

APOS = 0

;********************************************** Events **********************************************

;Set Events handling here

;******************************************* Main Program *******************************************

RESET_DRIVE:

WAIT UNTIL IN_A3 ;Check the Enable / Inhibit switch is made before continuing

ENABLE ;Enable the Drive

PROGRAM_START:

MOVEP 0 ;Move to Pick position

OUT1 = 1 ;Turn on output 1 on to extend Pick arm

WAIT TIME 1000 ;Delay 1 sec to extend arm

OUT2 = 1 ;Turn on output 2 to Engage gripper

WAIT TIME 1000 ;Delay 1 sec to Pick part

OUT1 = 0 ;Turn off output 1 to Retract Pick arm

MOVEP 100 ;Move to Place position

OUT1 = 1 ;Turn on output 1 on to extend Pick arm

WAIT TIME 1000 ;Delay 1 sec to extend arm

OUT2 = 0 ;Turn off output 1 to Disengage gripper

WAIT TIME 1000 ;Delay 1 sec to Place part

OUT1 = 0 ;Retract Pick arm

GOTO PROGRAM_START

END

;******************************************** Sub-Routines ******************************************

; Enter Sub-Routine code here

;*************************************** Fault Handler Routine **************************************

; Enter Fault Handler code here

ON FAULT

ENDFAULT

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