Reference, Example internal positioning program – Lenze E94P PositionServo with MVOB User Manual
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Reference
Example Internal Positioning Program
;********************************************** HEADER **********************************************
;Title:
Pick and Place example program
;Author:
940 Product Management
;Description:
This is a sample program that shows a simple application that
;
picks up a part moves to a set position and drops the part
;******************************************** I/O List ********************************************
; Input A1
-
not used
; Input A2
-
not used
; Input A3
-
Enabled
; Input A4
-
not used
; Input B1
-
not used
; Input B2
-
not used
; Input B3
-
not used
; Input B4
-
not used
; Input C1
-
not used
; Input C2
-
not used
; Input C3
-
not used
; Input C4
-
not used
;
; Output 1
-
Pick Arm
; Output 2
-
Gripper
; Output 3
-
not used
; Output 4
-
not used
;******************************** Initialize and Set Variables **************************************
UNITS = 1
ACCEL = 75
DECEL =75
MAXV = 10
APOS = 0
;********************************************** Events **********************************************
;Set Events handling here
;******************************************* Main Program *******************************************
RESET_DRIVE:
WAIT UNTIL IN_A3
;Check the Enable / Inhibit switch is made before continuing
ENABLE
;Enable the Drive
PROGRAM_START:
MOVEP 0
;Move to Pick position
OUT1 = 1
;Turn on output 1 on to extend Pick arm
WAIT TIME 1000
;Delay 1 sec to extend arm
OUT2 = 1
;Turn on output 2 to Engage gripper
WAIT TIME 1000
;Delay 1 sec to Pick part
OUT1 = 0
;Turn off output 1 to Retract Pick arm
MOVEP 100
;Move to Place position
OUT1 = 1
;Turn on output 1 on to extend Pick arm
WAIT TIME 1000
;Delay 1 sec to extend arm
OUT2 = 0
;Turn off output 1 to Disengage gripper
WAIT TIME 1000
;Delay 1 sec to Place part
OUT1 = 0
;Retract Pick arm
GOTO PROGRAM_START
END
;******************************************** Sub-Routines ******************************************
;
Enter Sub-Routine code here
;*************************************** Fault Handler Routine **************************************
;
Enter Fault Handler code here
ON FAULT
ENDFAULT