Rockwell Automation 1761-HHP-B30 MicroLogix 1000 with Hand-Held Programmer (HHP) - Manual (Page 481)

Appendix E
Application Example Programs
E–38
File 2, Rung 4
Loads the high-speed counter with the following parameters:
N7:0 – 0001h – Output Mask – high-speed counter control only O:0/0
(gripper)
N7:1 – 0000h – Output Pattern for High Preset – turn OFF gripper (release
part)
N7:2 – 100d – High Preset – loaded from table in the rung above
N7:3 – 0001h – Output Pattern for Low Preset – turn ON gripper (grab part)
N7:4 – 0d – Low Preset – home position when encoder triggers Z-reset
FUN GRAPHIC PARAMETER
CODE SYMBOL MNEMONIC NAME ADDRESS VALUE FORCES
–––– ––––––– –––––––– –––– ––––––– ––––– ––––––
20 |–] [– LD
Home Position Reached
C0/LP 0
24 |_] [_| OR
First Pass Bit
S1/15 0
171 HSL CNTR C0
SRC N0
LEN 5
File 2, Rung 5
Starts up the high-speed counter with the above parameters. Each time
this rung is evaluated the hardware accumulator is written to C5:0.ACC.
FUN GRAPHIC PARAMETER
CODE SYMBOL MNEMONIC NAME ADDRESS VALUE FORCES
–––– ––––––– –––––––– –––– ––––––– ––––– ––––––
170 HSC TYPE Encoder (Res,Hld)
CNTR C0
PRE 100
ACC –2
File 2, Rung 6
When the pick-and-place head reaches either its home position to pick up a
part or its destination bin to drop off a part, start up a dwell timer.
The purpose of this is to keep the head stationary long enough for the
gripper to either grab or release the part.
FUN GRAPHIC PARAMETER
CODE SYMBOL MNEMONIC NAME ADDRESS VALUE FORCES
–––– ––––––– –––––––– –––– ––––––– ––––– ––––––
20 |–] [– LD
Bin Location Reached
C0/HP 0
24 |_] [_| OR
Home Position Reached
C0/LP 0
0 TON
Dwell Timr
TIMR T0
BASE 0.01
PRE 100
ACC 100