Move on BCD Input

The following application will move the motor to a variety of positions based upon a binary input to I/O 1-4. One of the things this application shows is one of the new Microstep Resolution settings that give the abilty to set motion to occur in 0.001˚ increments. The program does a calculation after each move to show motor position in degrees.

To run program, enter EX 1 into the terminal. You can index the motor by moving the switches to the center (OFF) position to represent a 4-bit binary number where switch 4 is the most significant bit.

The terminal will display the decimal equivalent, as well as the axis position in degrees.

This program illustrates the following functions:

The ability to input BCD to the I/O group and control processes based on the value of the inputs.
The ability to manipulate numeric position data to display it in familiar units of measure.

'******Global Setup Parameters**** S1=0,0,0 'I1-4 set as GP,LOW Active, sinking S2=0,0,0 S3=0,0,0 S4=0,0,0 P=0 Ms=180 'Microstep Res to 0.001 deg/ustep '******Main Program********* PG 1 LB aa R1=Il 'Set register 1 = inputs 4-1 BR z1,R1=0 'conditional branches based BR za,R1=1 'upon the value of IL BR zb,R1=2 BR zc,R1=3 BR zd,R1=4 BR ze,R1=5 BR zf,R1=6 BR zg,R1=7 BR zh,R1=8 BR zi,R1=9 BR zj,R1=10 BR zk,R1=11 BR zl,R1=12 BR zm,R1=13 BR zn,R1=14 BR zo,R1=15 BR aa '*******Program Motion Components******* LB z1 BR aa, P=0 'branch to main prog, position=0 MA 0 'index to abs. pos. 0 H 'Suspend prog. until move completes CL zz 'call the print position sub. BR aa 'BR to main prog when complete LB za 'same as above BR aa, P=36000 MA 36000 H CL zz BR aa LB zb BR aa, P=-36000 MA -36000 H CL zz BR aa LB zc BR aa, P=18000 MA 18000 H CL zz BR aa LB zd BR aa, P=-27000 MA -27000 H CL zz BR aa LB ze BR aa, P=9000 MA 9000 H CL zz BR aa LB zf BR aa, P=-9000 MA -9000 H CL zz BR aa LB zg BR aa, P=4500 MA 4500 H CL zz BR aa LB zh BR aa, P=-4500 MA -4500 H CL zz BR aa LB zi BR aa, P=3000 MA 3000 H CL zz BR aa LB zj BR aa, P=-3000 MA -3000 H CL zz BR aa LB zk BR aa, P=6000 MA 6000 H CL zz BR aa LB zl BR aa, P=-6000 MA -6000 H CL zz BR aa LB zm BR aa, P=7500 MA 7500 H CL zz BR aa LB zn BR aa, P=-7500 MA -7500 H CL zz BR aa LB zo BR aa, P=0 MA 0 H CL zz BR aa '****Print Position Subroutine**** LB zz R2=P/100 'set register 2 to position/100, 'this will display degrees as the unit 'of measure for motor position PR "Position Selected = ",R1 PR "Absolute Position (Degrees) = ",R2 RT E PG



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