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

'-------------- Define (dim) Global Variables --------
Dim count as integer 
'-------------- Main Program -------------------------
Main 
While 1 = 1

If DIN2.STATE = 1 Then 'start homing
	IL.LIMITN = -0.1 'lower current limits so it doesn't cause mechanical damage
	IL.LIMITP = 0.1
	MOVE.ACC = 1000
	MOVE.DEC = 1000
	MOVE.RUNSPEED = 50
	MOVE.GOVEL 
	While PL.ERR < 90 : Wend 'wait for position error to increase
	DRV.OPMODE = 1 'switch to velocity mode so drive doesn't fault
	MOVE.POSCOMMAND = 0 'set position to zero
	DRV.OPMODE = 2 'back to position mode
	IL.LIMITN = -3 'reset current limits
	IL.LIMITP = 3
	Pause (3)
End If
		
While DIN1.STATE = 1 'make some position moves
	For count = 1 To 5
		Move.Acc = 10000' Acceleration (drive units)
		Move.Dec = 10000' Deceleration (drive units)
		Move.RunSpeed = 500' Runspeed (drive units)
		Move.RelativeDist = 360' Distance to move (drive units)
		Move.GoRel 
		Pause (1)
	Next 
			
	Move.Acc = 1000' Acceleration (drive units)
	Move.Dec = 1000' Deceleration (drive units)
	Move.RunSpeed = 1000' Runspeed (drive units)
	Move.TargetPos = 0' Target position (drive units)
	Move.GoAbs 
Wend

Wend
End Main

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

'-------------- Interrupt Routines -------------------