Lenze E94P PositionServo with MVOB - Manual (Page 35)

PM94H201B_13xxxxxx_EN L 33
Programming
Events - Define Event name, Trigger and Program Statements
;***************************** Events **************************************
EVENT SPRAY_GUNS_ON APOS > 25 ;Event will trigger as position passes 25 in pos dir.
OUT3= Output_On ;Turn on the spray guns (out 3 on)
ENDEVENT ;End event
EVENT SPRAY_GUNS_OFF APOS > 75 ;Event will trigger as position passes 75 in pos dir.
OUT3= Output_Off ;Turn off the spray guns (out 3 off)
ENDEVENT ;End even
Main Program - Define the motion and I/O handling of the machine
;***************************** Main Program ********************************
RESET_DRIVE: ;Place holder for Fault Handler Routine
WAIT UNTIL IN_A3 ;Make sure the ENABLE input is made before continuing
ENABLE
OUT1 = 0 ;Initialize Pick Arm - Place in Retracted Position
WAIT UNTIL IN_A4==1 ;Check Pick Arm is in Retracted Position
EVENT SPRAY_GUNS_ON ON ;Enable the Event
EVENT SPRAY_GUNS_OFF ON ;Enable the Event
PROGRAM_START:
MOVEP 0 ;Move to position 0 to pick part
OUT1 = Output_On ;Turn on output 1 to extend Pick arm
WAIT UNTIL IN_A1==1 ;Check input to make sure Arm is extended
OUT2 = Output_On ;Turn on output 2 to Engage gripper
WAIT TIME 1000 ;Delay 1 sec to Pick part
OUT1 = Output_Off ;Turn off output 1 to Retract Pick arm
WAIT UNTIL IN_A4==1 ;Check input to make sure Arm is retracted
MOVED 100 ;Move to Place position
OUT1 = Output_On ;Turn on output 1 to extend Pick arm
WAIT UNTIL IN_A1==1 ;Check input to make sure Arm is extended
OUT2 = Output_Off ;Turn off output 2 to Disengage gripper
WAIT TIME 1000 ;Delay 1 sec to Place part
OUT1 = Output_Off ;Retract Pick arm
WAIT UNTIL IN_A4==1 ;Check input to make sure Arm is retracted
GOTO PROGRAM_START
END
Sub-Routine - All Sub-Routine code should reside here
;************************* Sub-Routines ***********************************
; Enter Sub-Routine code here
Fault Handler - Define what the program should do when a fault is detected
;************************* Fault Handler Routine **************************
; Enter Fault Handler code here
ON FAULT
ENDFAULT
The header section of the program contains description information, program name, version number, description of
process and programmers name. The I/O List section of the program contains a listing of all the I/O used within the
application. The Initialize and Set Variables section of the program defines the names for the user variables and
constants used in the program and provides initial setting of these and other variables.