'Following an External Pulse Using MicroLYNX



'********** Parameter Setup Section ************* 

VAR counts 	'User Variable called "counts" 
VAR count2 	'User Variable called "count2"

Mhc=25 		'Motor hold current (current reduction) 
Mrc=40 		'Motor run current 
Mac=40 		'Motor acceleration current 
Msel=10 	'Motor resolution selection (coarse, 1000steps/rev) 

Ios 15=5,0,0,0,1,1 	'Pulse (Encoder type) input 
Ios 16=6,0,0,0,1,1 	'Pulse (Encoder type) input 

Ios 21= 0,0,0 	'NEGATIVE LIMIT (general purpose, input, active low) 
Ios 22= 0,0,0 	'POSITIVE LIMIT (general purpose, input, active low) 
Ios 23= 0,0,0 	'Fine resolution input (general purpose, input, active low) 

Has = .9999999 	'Half axis scaling 1:1 

'************ Start Program ****************** 

Pgm 1 		'Toggle into Programming Mode at address 1 
LBL STARTUP 	'Pre-defined label to start on power-up 

Hae=1 		'enable half axis mode (following) 

LBL main 	'User label called main 
BR coarse, Io 23=1 	'Check state of coarse/fine select input 
Has=.5 		'Set half axis scaling to 0.5:1 
Msel=256 	'High resolution (fine, 51200 steps/rev) 
BR cw 		'Branch to LBL cw 

LBL coarse 	'User label called course 
Has=.9999999 	'Reset half axis scaling to 1:1 
Msel=16 	'Low resolution (coarse, 1000 steps/rev) 

LBL cw 		'User label called cw 
BR ccw, Io 21=0 	'Branch to ccw if IO 21 is inactive 
Hae=0 		'Turn off half axis mode 

LBL cw1 	'User label called cw1 
counts=Ctr3 	'Set variable counts = Ctr3 
DELAY 50 	'Wait 50 msec 
count2=Ctr3 	'Set user variable count2=Ctr3 
BR cw1, counts<=Ctr3 	'Loop while control encoder is going the 
wrong way 
Hae=1 		'Enable half axis mode 

LBL ccw 	'User label called ccw 
BR main, Io 22=0 	'Branch to LBL main if IO 22 is inactive 
Hae=0 		'Turn off half axis mode 
LBL ccw1 	'User label called ccw1 
counts=Ctr3 	'Set variable counts = Ctr3 
DELAY 50 	'Wait 50 msec 
count2=Ctr3 	'Set variable count2 = Ctr3 
BR ccw1, counts>=Ctr3 	'Loop while control encoder is going 
			'the wrong way 
Hae=1 		'Enable half axis mode 

BR main 	'Unconditional Branch back to LBL main 

END 		'End Program 

Pgm 		'Toggle out of Programming Mode