User guide

80 6250 Servo Controller User Guide
Step 1 Initialize a Data Program.
> DEL DATP1 Delete data program #1 (DATP1) in preparation for creating a new
data program #1
> DATSIZ1,1Ø Create data program #1 (named DATP1) with an allocation of 10
data elements. Each element is initialized to zero.
Step 2 Define the SETUP Subroutine. Note that the SETUP subroutine need only run once.
> DEF SETUP Begin definition of the subroutine called SETUP
- JOYVH3,3 Set the high velocity speed to 3 rps
- JOYVL.2,.2 Set the low velocity to 0.2 rps
- JOYAXH1,2 When axes select input is set high, apply analog input 1 to axis 1
and apply analog input 2 to axis 2
- VAR1=Ø Set variable #1 equal to zero
- VAR2=Ø Set variable #2 equal to zero
- DRIVE11 Enable the drives for both axes
- MA11 Enable the absolute positioning mode for both axes
- END End definition of the subroutine called SETUP
Step 3 Define the TEACH Subroutine.
> DEF TEACH Begin definition of the subroutine called TEACH
- HOM11 Home both axes (absolute position counter is set to zero after
homing move)
- DATPTR1,1,1 Select data program #1 (DATP1) as the current active data program,
and move the data pointer to the first data element. After each
DATTCH value is stored to DATP1, increment the data pointer by 1
data element.
- REPEAT Set up a repeat/until loop
- JOY11 Enable joystick mode on both axes. At this point, you can start
moving the axes into position with the joystick. While using the
joystick, command processing is stopped here until you activate the
joystick release input. Activating the joystick release input disables
the joystick mode and allows the following commands to be
executed (assign the motor positions to the variables and then store
the positions in the data program).
- VAR1=1PM Set variable #1 equal to the position of motor 1
- VAR2=2PM Set variable #2 equal to the position of motor 2
- DATTCH1,2 Store variable #1 and variable #2 into consecutive data elements.
(The first time through the repeat/until loop, variable #1 is stored
into data element #1 and variable #2 is stored into data element #2.
The data pointer is automatically incremented once after each data
element and ends up pointing to the third data element in
anticipation of the next DATTCH command.)
- WAIT(INO.5=b1) Wait for the joystick release input to be de-activated
- UNTIL(DPTR=1) Repeat the loop until the data pointer wraps around to data element
#1
(data program full)
- END End definition of the subroutine called TEACH