Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 418)

396 Application Examples • Vertical, Form, Fill and Seal
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
CLEAR
PRINT "LENGTH = " ,BOTL_LEN
PRINT 2,1 "NUMBER = " ,BOTL_NUM
PRINT 3,1 "LIMIT = " ,POS_LIM
PRINT 4,1 "X1:LEN X2:NUM X3:LIM"
XEND
;Main Program
X1 CONT ;Enable the Xkey routines for continuous operation
X2 CONT
X3 CONT
CLEAR
PRINT "LENGTH = " ,BOTL_LEN
PRINT 2,1 "NUMBER = " ,BOTL_NUM
PRINT 3,1 "LIMIT = " ,POS_LIM
PRINT 4,1 "X1:LEN X2:NUM X3:LIM"
ALL OFF ;Initialize all outputs off
MOVP 0 ;Move fillerhead to home position (home position
; must first be defined using the home routine)
BOTL_LEN = 0 ;Initialize variables
BOTL_NUM = 0
POS_LIM=0
GEAR = 2
LAST_BTL = @POS2 ;Initialize positions
FILLER_HOM = POS1
CFILLER_HOM = UTOC1 FILLER_HOM
WAIT BOTL_LEN <> 0
WAIT BOTL_NUM <> 0
WAIT POS_LIM <> 0
FILL_LEN = BOTL_LEN * BOTL_NUM
CFILL_LEN = UTOC2 FILL_LEN
CBOTL_LEN = UTOC2 BOTL_LEN
S1 CONT ;Scanned event enabled to continuously detect the
; event
MAIN:
NEXT_BTL= LAST_BTL + CFILL_LEN ;Calculate next fill position
V20 = 2 * NEXT_BTL ;Scale next fill position according
; to gear ratio
REL_POS = CFILLER_HOM - V20 ;Calculate target relative
; position between fill position
;and fillerhead
TEMP1 = NEXT_BTL - CBOTL_LEN
WAIT @POS2 >= TEMP1 ;Wait for botl_num - 1 empty bottles to pass
IF @POS2>=NEXT_BTL JMP PSN_ERR ;If botl_num or more empty
; bottles have passed, go to psn_err
INT1 ON ;Enable interrupt to capture next bottle
WAIT I11 ON ;Wait for a bottle
GEAREN ON ;Begin gearing
LAST_BTL = NEXT_BTL ;Store last fill position
DELAY .01
WAIT INPOSN ON ;Wait until fillerhead is tracking fill position
SINT2 ;Generate interrupt to latch pos1 and pos2
V20 = 2*@I2P2
V21 = @I2P1 - V20 ;Calculate relative position
; between fill position and fillerhead
MAKE_UP = V21 - REL_POS ;Calculate difference from target
MAKE_UP = CTOU1 MAKE_UP
MOVD -MAKE_UP ;Execute correction move
WAIT INPOSN ON
FILL_EN ON ;Filling operation output on
WAIT FILL_CMPLT ON ;Wait until the fill operation has completed
FILL_EN OFF ;Turn off filling machine
GEAREN OFF ;Turn off electronic gearing