'MDrive Motion Control Sample Program


'Limit Switch Test Program

'CODE         DESCRIPTION

S1=2,0      'set input 1 as positive limit, low true
S2=3,0      'set input 2 as negative limit, low true
PG 1        'enter program mode at address 1
LB aa       'label aa
Vm=51200    'set max velocity to 51200 steps/sec
MR 102400   'move positive 102400 steps
            'close switch at input 1 to
            'stop motion in the positive direction
            'and cause an error 83
            'NOTE: PROGRAM CONTINUES TO EXECUTE
            'leave switch open and program runs normal
H           'hold program execution until motion complete
H 250       'hold program execution for 250 millisecond
PR Er       'print error number to terminal window
MR-102400
            'close switch at input 2 to
            'stop motion in the negative direction
            'and cause an error 84
            'NOTE: PROGRAM CONTINUES TO EXECUTE
H           'hold program execution until motion complete
H 250       'hold program execution for 250 millisecond
PR Er       'print error number to terminal window
BR aa       'branch to label aa
E           'end program
PG          'exit program mode
	    'hit "Esc" key to stop program