AKD Basic Sample Program to Change Index Distance with Modbus

'-------------- Device Params -----------------------
Params

End Params

'-------------- Define (dim) Global Variables --------

Dim indexdistance as integer

Dim homefound as integer

MBInfo
$MBMap32(5000, indexdistance) 'Modbus registers 5000 and 5001 for index distance from HMI
End
'-------------- Main Program -------------------------
'Homing starts on Input 3
'Home switch on Input 2
'Start index move on Input 1
'Jog positive on Input 4 (interrupt)
'Jog negative on Input 5 (interrupt)
Main
DRV.SWENABLE = 0
homefound = 0

'Enable Interrupts
INTR.HWLS.POSSTATE = 1
INTR.HWLS.NEGSTATE = 1
Intr.DRV.FAULTS = 1
INTR.DISABLE = 1
INTR.DRV.HWENABLE = 1
Intr.DIN4Hi = 1 'jog positive on input 4
Intr.DIN5Hi = 1 'jog positive on input 5

indexdistance = 50 'default distance, in integer user units
Move.Acc = 1000  ' Acceleration (drive units)
Move.Dec = 1000  ' Deceleration (drive units)

While DRV.ACTIVE = 0 : Wend 'wait for hardware and software enable
While 1 = 1 'start continuous loop

'Homing uses Input 3 to start homing move and Input 2 for the position capture
If homefound = 0 Then 'If axis has not been homed, then wait for starthome button
    While DIN3.STATE = 0 : Wend 'Use input 3 to start homing
    CAP0.MODE = 0 'standard position capture
    CAP0.TRIGGER = 1 'Use input 2 for position capture
    CAP0.EDGE = 1 'positive edge
    CAP0.EVENT = 0 'no pre-conditions must be met
    CAP0.EN = 1 'Start looking for the capture trigger
    MOVE.RUNSPEED = 254 'mm/s
    MOVE.DIR = 1 'negative direction
    MOVE.GOVEL 'start moving
    While CAP0.STATE = 0 : Wend 'wait for the capture to trigger
    Print "cap"
    MOVE.RUNSPEED = 0
    MOVE.GOVEL 'stop moving, zero speed
    While MOVE.MOVING = 1 : Wend 'wait for motion to stop
    MOVE.POSCOMMAND = (PL.FB -CAP0.PLFB ) 'set position to the difference between the actual position and captured position
    Pause (.2)
    MOVE.RUNSPEED = 50 'mm/s
    MOVE.TARGETPOS = 0
    MOVE.GOABS 'move back to the captured position
    Pause (1) 'this is the end of the homing routine
    homefound = 1 'set homefound tag
End If

While DRV.HWENABLE = 0  : Wend

'Indexing Move
While DIN1.STATE = 0 : Wend 'start indexing move on input 1
Move.RunSpeed = 100 'index speed in integer position units per sec
MOVE.RELATIVEDIST = indexdistance 'index distance in integer position units (from HMI)
Move.GoRel
While MOVE.MOVING = 1 : Wend
While DIN1.STATE = 1 : Wend 'wait for input 1 to turn off

Wend 'return to "While 1 = 1" loop
End Main

'-------------- Subroutines and Functions ------------

'-------------- Interrupt Routines -------------------
Interrupt HWLS.NEGSTATE
    If homefound = 0 Then 'look for home in the other direction
    While MOVE.MOVING = 1 : Wend
        MOVE.DIR = 0 'positive direction
        MOVE.RUNSPEED = 50 'mm/s
        MOVE.GOVEL 'start moving
        While DIN2.STATE = 0 : Wend 'wait for home switch to turn on
        While DIN2.STATE = 1 : Wend 'wait for home switch to turn off (pass the home switch)
        Pause (0.5)
        MOVE.RUNSPEED = 0
        MOVE.GOVEL 'stop moving, zero speed
        While MOVE.MOVING = 1 : Wend
        CAP0.EN = 1 'Start looking for the capture trigger
        MOVE.DIR = 1 'negative direction
        MOVE.RUNSPEED = 50 'mm/s
        MOVE.GOVEL 'start moving
    ElseIf homefound = 1 Then
        Restart
    End If
    INTR.HWLS.NEGSTATE = 1
End Interrupt

Interrupt HWLS.POSSTATE
    Restart
End Interrupt

Interrupt DRV.HWENABLE
    Restart
End Interrupt

Interrupt disable
    Restart
End Interrupt

Interrupt DRV.FAULTS
    Restart
End Interrupt

Interrupt DIN4Hi 'jog positive on input 4
    MOVE.RUNSPEED = 100
    MOVE.GOVEL
    While DIN4.STATE = 1 : Wend
    MOVE.RUNSPEED = 0
    MOVE.GOVEL 'stop jog move
    Intr.DIN4Hi = 1
End Interrupt

Interrupt DIN5Hi 'jog negative on input 5
    MOVE.RUNSPEED = -100
    MOVE.GOVEL
    While DIN5.STATE = 1 : Wend
    MOVE.RUNSPEED = 0
    MOVE.GOVEL 'stop jog move
    Intr.DIN5Hi = 1
End Interrupt

 

 

Note: This program has been modified since the original post.  The GoTo statements have been removed from the interrupts, since the firmware will no longer support that.