Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 397)

Application Examples • Continuous Web with Registration 375
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
D=1,V=1000
DIF Incr,I15=OFF, JMP i1em
i1em: D=1,V=0
JMP mofs
Ck2: IF I16=OFF JMP Ck3;if I16=ON, offset backward
D=-1,V=1000
DIF -Incr,I16=OFF,i2em
I2em: D=-1,V=0
JMP mofs
Ck3:
;If more than 2 measurement lengths have
; gone by with no measurement,
; bring window out to a full-width search.
IF InWin=ON IF (CorPos-pos1)/(Incr*Navg) > 2
{ ;use a full-width search
S1 OFF
S2 OFF
S3 CONT
InWin=OFF
INT1 CONT
}
IF Count>0 JMP Ck1 ;if not ready for a correction yet, loop to Ck1
CorPos=POS1 ;save correction position for in-window time-out
OfsError=OfsError/Navg ;find the average Offset Error
IF I13=OFF JMP skpcor ;if input 13 is off, no correction is done
; (optional)
MD OfsError ;do correction move using system velocity and accel
skpcor: IF InWin=ON JMP scc;if already windowing, skip check to start
; windowing
IF OfsError > WindRad JMP scc;if the Offset Error is less than
; window radius, use window
S3 OFF ;start windowing
S1 CONT
S2 CONT
InWin = ON
scc:
Navg = Navgbuf ;if new number to average (from Xkey),
; start using it
OfsError=0
Count = Navg ;allow scanned events to collect data again
JMP Ck1
mofs:
CLEAR ;this measures the current offset and puts the
; phase into Target.
S1 OFF ;turn off all scanned events
S2 OFF
S3 OFF
S4 OFF
FI1 = OFF ; ignore any previous interrupts
INT1 ON ;get next interrupt
WAIT FI1 ON
Target = I1P1 - PDelay * VEL1 ;position=position - sensor delay*VEL1
Offset = Target ;used later
FI1 = OFF
EnPos = Target - WindRad
DisPos = Target + WindRad
IF InWin=OFF JMP mofsO
S1 CONT ;InWind is ON
S2 CONT
JMP mofscc