Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 424)

402 Application Examples • Lane Diverter
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
;Multiplying Min_vel by 8 brings the feedrate in
; Scanned Event S4 to 12.5%, and the mov_vel
; calculation to 800% of normal. This brings velocity to
; computed value, but allows speed-up to 16x this speed
; instead of the 2x FDR limit of 200%.
IF VEL2 < Min_vel ;if web velocity is < Min_vel,
V2hold = 8*Min_vel ; use Min_vel for calculations
ELSE ; else use real web speed for calculation
V2hold = 8*VEL2
Calc_tmp1 = Gate_length-pos2+Eon1
;web distance to do move
; if web distance is zero, do move in .01 web units
IF Calc_tmp1 <= 0 Calc_tmp1 = .01
;mov_vel is (distance to move)/(web distance to do move/
; speed of the web)
Mov_vel = (PCMD-Target)*V2hold/Calc_tmp1
MOVP Target,V=Mov_vel ;move to target at calculated speed
IF Target=Gate_pos1 ;wait for package to exit gate
{
WAIT Exit_sense1=ON
WAIT Exit_sense1=OFF
}
IF Target=Gate_pos2
{
WAIT Exit_sense2=ON
WAIT Exit_sense2=OFF
}
IF Target=Gate_pos3
{
WAIT Exit_sense3=ON
WAIT Exit_sense3=OFF
}
JMP main
END