Specifications

BASIC commands
PROGRAMMING MANUAL 64
Revision 5.0
fig. 17/i
6 The axis moves at demand speed reverse until the datum switch is reached.
The axis then moves forward at creep speed until the datum switch is reset.
The axis continues forward at creep speed until the Z marker of the encoder is
encountered. The demand position is then reset to 0 and the measured posi-
tion corrected so as to maintain the Following Error.
sequence
value
Description
Example A production line must stop if something blocks the product belt, which
causes a motion error. The obstacle must be removed, and a reset button
must be pressed to restart the line.
FORWARD 'start production line
WHILE IN(2)=ON
IF MOTION_ERROR=0 THEN
OP(8,ON) 'green light on; line is in motion
ELSE
OP(8, OFF)
GOSUB error_correct
ENDIF
WEND
CANCEL
STOP
error_correct:
REPEAT
OP(10,ON)
WA(250)
OP(10,OFF) 'flash red light to show crash
WA(250)
UNTIL IN(1)=OFF
DATUM(0) 'reset axis status errors
SERVO=ON 'turn the servo back on
WDOG=ON 'turn on the watchdog
OP(9,ON) 'sound siren that line will restart
WA(1000)
OP(9,OFF)
FORWARD 'restart motion
RETURN