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Download III. DELTA DIMA Module
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DELTA PROCESS-PLC System TASK 0 -------------------------------------------; ***** 1. Positioning ***** ; ; Mode 3: digital speed loop for ; both axes REGISTER_LOAD [121098 with 3] ;DigSpeedLoop for 21 REGISTER_LOAD [141098 with 3] ;DigSpeedLoop for 42 ; ; Realease and reference of bothaxes REGISTER_LOAD [121001 with 1] ;Release axis 21 REGISTER_LOAD [142001 with 1] ;Release axis 42 REGISTER_LOAD [121001 with 3] ;Ref 21 ActPos=0 REGISTER_LOAD [142001 with 3] ;Ref 42 ActPos=0 ; ; Declare axis 42 to slave in the slave REGISTER_LOAD [142001 with 33] ;42 slave (in slave) ; ; Config 4: axis 1 master, external slaves REGISTER_LOAD [124001 with 43] ;21 master, ext axis ; ; Declare axis 42 to slave in the master REGISTER_LOAD [124132 with 42] ;42isSlave(in master) ; REGISTER_LOAD [124003 with 600] ;Speed REGISTER_LOAD [124005 with 1000] ;Start ramp REGISTER_LOAD [124006 with 1000] ;Stop ramp ; ; Define positions REGISTER_LOAD [124038 with 0] ;ActPos axis 21 REGISTER_LOAD [124039 with 0] ;ActPos axis 42 REGISTER_LOAD [124030 with 10000] ;NomPos axis 21 REGISTER_LOAD [124032 with 15000] ;NomPos axis 42 ; REGISTER_LOAD [124001 with 41] ;Start interpolation WHEN AXXAR axis=21 ;Axis arrived ? AXARR axis=42 THEN DELAY 10 ; ; ***** 2. Positioning ***** ; REGISTER_LOAD [124038 with 10000] ;ActPos axis 21 REGISTER_LOAD [124039 with 15000] ;ActPos axis 42 REGISTER_LOAD [124030 with 22500] ;NomPos axis 21 REGISTER_LOAD [124032 with 20000] ;NomPos axis 42 REGISTER_LOAD [124001 with 41] ;Start interpolation WHEN AXARR axis=21 ;Axis arrived ? AXARR axis=42 THEN DELAY 10 GOTO 0 Program end DELTA DIMA Module 98
