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24 376 kVA i f n Assembler – Examples "Table positioning" sample program Hz P Hz Program start ========================================== Initialization -----------------------------------------SET H300 = 15000 SET H301 = 15000 SET H302 = 1000 SET H303 = 1000 ------------------------------------------ Set speed and acceleration values for table positioning (see variable description in the remarks for the program source code) Program branch distributor ========================================== SETINT ERROR M10 M100: CALL M50 JMP LO I0001000000000000, M101 CALL M20 M101: JMP LO I0000010000000000, M102 CALL M30 M102: JMP LO I0000100000000000, M103 CALL M40 M103: JMP UNCONDITIONED , M100 ------------------------------------------ Program branch distributor Activate interrupt routine for hardware limit switch processing reset/move clear of limit switch → main program DI16 = 1 → Reference travel DI14 = 1 → Jog CW DI15 = 1 → Jog CCW Subroutine/move clear of limit switch ========================================== M10: JMP HI I0000000000110000, M1 M3: JMP HI I0000000000110000, M2 ASTOP IPOS ENABLE JMP UNCONDITIONED , M3 M2: ASTOP TARGET POSITION M1 : RET ------------------------------------------ Reset/move clear of limit switch If drive has not moved onto limit switch (DI04/DI05 Limit switch CW/CCW), then return to branch distributor. If it has, then unlock travel and wait until drive has moved clear of limit switch (parameterized "Reset" input function DI02). Then stop drive by setting target position to current position Reference subroutine ========================================== M20: ASTOP IPOS ENABLE AND H480 & FFFFFFF0 hex BCLR H480.5 = 0 GO0 U,NW, ZP M22: JMP LO I0000000000000001, M21 SET H319 = 0 BMOV H319.0 = H473.20 JMP H319 == 0 , M22 M21 : ASTOP TARGET POSITION RET ------------------------------------------ Reference travel Travel release Delete output binary coded table position Delete output "Table position valid" Reference travel, no wait, start at zero pulse, as long as "Controller inhibit" = 0 and the bit in the status word "IPOS Reference" = 0 Subroutine jog mode ========================================== M30: RET M40: RET Option: Subroutine (e.g. jog mode) Jog CW Jog CCW Manual – IPOSplus®
