Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 430)

408 Application Examples • Automated Test Station
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
MOVV = 0 ;Stop commanded motion
WAIT Timerdone = ON ;Wait for timer to finish
Test2deflect = ;Measure how much the part moved
POSN - Startpos
IF Test2deflect > Maxdistance ;Compare to tolerance
Fail = ON ; to determine pass or fail
ELSE
Pass = ON
DISABLE ;Disable IQ
ILIMIT = Normalcurrent ;Restore current limit
JUMP Done ;Finish the test
;Test 3 - Measure velocity at constant torque
Begin3:
IF Testvel <= 0 JUMP Setuperr ;Check if valid velocity
IF Maxvel <= 0 JUMP Setuperr ;Check if valid tolerance
IF Currentlimit <= 0 ;Check if valid Ilimit
JUMP Setuperr
ILIMIT = Currentlimit ;Set current limit
TIMER1 = Testdelay ;Set timer value
S2 ON ;Start timer scanned event
Starttimer = ON ;Start timer
MOVV = Testvel ;Start moving
WAIT Timerdone = ON ;Wait for timer to finish
Test3velocity = VEL1 ;Measure velocity
DISABLE ;Stop motion
IF Test3velocity > Maxvel ;Check if velocity within tolerance
Fail = ON ; if not - the part fails
ELSE
{
IF Test3velocity > Minvel
Pass = ON ; otherwise - the part passes
ELSE
Fail = ON
}
ILIMIT = Normalcurrent ;Restore current limit
JUMP Done ;Finish the test
;Test 4 - Measure position deflection at a fixed
; torque
Begin4:
IF Testvel <= 0 JUMP Setuperr ;Check if valid velocity
IF Maxdistance <= 0 ;Check if valid tolerance
JUMP Setuperr
IF Currentlimit <= 0 ;Check if valid Ilimit
JUMP Setuperr
ILIMIT = Currentlimit ;Set current limit
Targetpos = Maxdistance * 1.1 ;Move ten percent further than tolerance
MOVD = Targetpos ;Start moving
WAIT VEL1 = 0 ;Wait for motion stopped (part engaged)
Test4pos1 = POSN ;Capture engaged position
MOVD = - FE ;Command move to clear following error
MOVD = - Targetpos ;Move in reverse direction
WAIT VEL1 = 0 ;Wait for motion stopped (part engaged)
Test4deflect = ;Calculate total deflection
Test4pos1 - POSN
IF Test4deflect > Maxdistance ;If greater than tolerance,
Fail = ON ; the part fails
ELSE
Pass = ON ; otherwise the part passes
DISABLE ;Disable IQ
ILIMIT = Normalcurrent ;Restore current limit