Lenze E94P PositionServo with MVOB Manuel d'utilisateur télécharger pdf (Page 26)

24 L PM94H201B_13xxxxxx_EN

Introduction

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

UNITS = 1 ;Dene units for program, 1=revolution of motor shaft

ACCEL = 5 ;Set Acceleration rate for Motion command

DECEL = 5 ;Set Deceleration rate for Motion command

MAXV = 10 ;Maximum Velocity for Motion commands

V1 = 25 ;Set Variable V1 equal to 25

V2 = 75 ;Set Variable V2 equal to 75

DEFINE Output_On 1 ;Dene Name for output On

DEFINE Output_Off 0 ;Dene Name for output Off

;*************************** EVENTS ***************************************************

EVENT SPRAY_GUNS_ON APOS > V1 ;Event will trigger as position passes 25 in pos dir.

OUT3= Output_On ;Turn on the spray guns (out 3 on)

ENDEVENT ;End event

EVENT SPRAY_GUNS_OFF APOS > V2 ;Event will trigger as position passes 75 in pos dir.

OUT3= Output_Off ;Turn off the spray guns (out 3 off)

ENDEVENT ;End event

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

WAIT UNTIL IN_A3 ;Make sure the Enable input is made before continuing

ENABLE

OUT1 = 0 ;Initialize Pick Arm - Place in Retracted Position

WAIT UNTIL IN_A4==1 ;Check Pick Arm is in Retracted Position

EVENT SPRAY_GUNS_ON ON ;Enable the Event

EVENT SPRAY_GUNS_OFF ON ;Enable the Event

PROGRAM_START:

MOVEP 0 ;Move to position 0 to pick part

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

WAIT UNTIL IN_A1==1 ;Check input to make sure Arm is extended

OUT2 = Output_On ;Turn on output 2 to Engage gripper

WAIT TIME 1000 ;Delay 1 sec to Pick part

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

WAIT UNTIL IN_A4==1 ;Check input to make sure Arm is retracted

MOVED 100 ;Move to Place position

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

WAIT UNTIL IN_A1==1 ;Check input to make sure Arm is extended

OUT2 = Output_Off ;Turn off output 2 to Disengage gripper

WAIT TIME 1000 ;Delay 1 sec to Place part

OUT1 = Output_Off ;Retract Pick arm

WAIT UNTIL IN_A4==1 ;Check input to make sure Arm is retracted

GOTO PROGRAM_START

END

1.9 IF/ELSE Statements

An IF/ELSE statement allows the user to execute one or more statements conditionally. The programmer can use an

IF or IF/ELSE construct:

Single IF example:

This example increments a counter, Variable “V1”, until the Variable, “V1”, is greater than 10.

Again:

V1=V1+1

IF V1>10

V1=0

ENDIF

GOTO Again

END

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Lenze E94P PositionServo with MVOB Manuel d'utilisateur Page 26

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