Lenze PM94P01C - Manual (Page 25)

PM94P01C 23
Introduction
;*********************** Events ********************************************
EVENT SPRAY_GUNS_ON APOS>25 ;Event will trigger as position passes 25 in pos dir.
OUT3=1
;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=0
;Turn off the spray guns (out 3 off)
ENDEVENT ;End event
;*********************** Main Program **************************************
PROGRAM_START:
;Place holder for main program loop
ENABLE ;Enable output from drive to motor
EVENT SPRAY_GUNS_ON ON ;Enable ‘spray guns on’ event
EVENT SPRAY_GUNS_OFF ON ;Enable ‘spray guns off’ event
WAIT UNTIL IN_A4==1 ;Make sure Arm is retracted
MOVEP 0 ;Move to Pick position
OUT1 = 1 ;Turn on output 1 to extend Pick arm
WAIT UNTIL IN_A1==1 ;Arm extends
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
WAIT UNTIL IN_A4==1 ;Make sure Arm is retracted
MOVEP 100 ;Move to Place position
OUT1 = 1 ;Turn on output 1 to extend Pick arm
WAIT UNTIL IN_A1==1 ;Arm extends
OUT2 = 0 ;Turn off output 2 to Disengage gripper
WAIT TIME 1000 ;Delay 1 sec to Place part
OUT1 = 0 ;Retract Pick arm
WAIT UNTIL IN_A4==1 ;Arm is retracted
GOTO PROGRAM_START ;Loop back and continuously execute main program loop
END
1.8 Variables and Define Statement
In the previous program for the pick and place machine constants were used for position limits to trigger the event and
turn the spray gun ON and OFF. If limits must be calculated based on some parameters unknown before the program
runs (like home origin, material width, etc.), then use the User Variables. The PositionServo provides 32 User Variables
V0-V31 and 32 User Network Variables NV0-NV31. In the program below, the limit APOS (actual position) is compared
to V1 for an ON event and V2 for an OFF event. The necessary limit values could be calculated earlier in the program
or supplied by an HMI or host PC.
The DEFINE statement can be used to assign a name to a constant, variable or drive Input/Output. In the program below,
constants 1 and 0 are defined as Output_On and Output_Off. DEFINE is a pseudo statement, i.e it is not executed by
the program interpreter, but rather substitutes expressions in the subsequent program at the time of compilation.
DEFINE Value2
2
DEFINE Value10 10
V1 = Value2+Value10 ; result is 12
V1 = 2+10
; does exactly same as above, the result is 12