Manual

Detailed Descriptions of ACL Commands 3-13
(The SO and CF have been included to simplify the application.) The first MA leaves the
carriage at 30000, 30000 microsteps. Then the SP "fools" the System into thinking it is at 0,
0 microsteps. Without stopping, the carriage moves another 30000 microsteps in each axis,
then another 20000.
The next example shows how to use patterns and Download Sequences to repeat a shape
numerous times within one Continuous Path sequence. We assume that a fluid dispensing
valve is connected to Digital Output bit 1.
BD 0; MA 1000, 4000; SR 1000; PD .05, 2, 2;
MD -50, 0, 2; BC; XD 100, 20; EC; ED;
BD 100; BP; MA 100, 100; MA 300, -100; MA 500, 0;
EP; ED;
In the first Download Sequence we move to 1000, 4000 and set the speed low ( SR 1000; )
so that the machine can make sharp corners without slipping the stepping motors. Then we
set up pre-move and mid-move Digital Outputs changes to turn the valve on 0.05 seconds
before motion begins and turn it off 50 microsteps before motion ends. The BC indicates the
beginning of nonstop motion. Without stopping, we execute the second Download Sequence
(i.d. number 100), repeating it 20 times.
Download Sequence 100 makes a zigzag move to the right, whose overall X-axis travel is
500 microsteps. A pattern ( BP...EP ) is used so that the absolute moves will be referenced
to a new Origin each time the move is executed. When this pattern has been repeated 20
times, the carriage will have moved a total of 10000 microsteps to the right, and a total of 60
physical action commands will have been executed; i.e., 3 MA's per pattern.
To execute this downloaded example, simply send XD 0; to the Automove System; press
the Execute button with the thumbwheel switch set to 0; or press FAST/PAUSE on the front
panel.
To repeat the entire sequence in the above example without any precomputation delay:
VM 15; MA 1000, 4000; VM 0; BC 1;
The VM 15; prevents the dispensing valve from turning on during the move back to the
starting point, (1000, 4000). Then VM 0; allows dispensing to resume. The BC 1; need
not be followed by an EC;.
BD[<id> [, <rept>]] Begin Download
This command puts the System into the Downloading mode. All ACL commands following
this command, up until the next ED ("End Download") command, are stored in the System's
non-volatile download memory instead of being executed immediately. The only ACL
commands that cannot be stored in a Download Sequence are BD and ED.
Be sure to flip the backpanel Write Protect switch down before downloading. If you don't
the System logs an error and ignores all ACL commands up until the next ED command.