Lenze E94P PositionServo with MVOB - Manual

***************************** HEADER ***************************************
;Title: Pick and Place example program
;Author: Lenze - AC Technology
;Description: This is a sample program showing a simple sequence that
; picks up a part, moves to a set position and drops the part
;**************************** I/O List ************************************
; Input A1 - not used
; Input A2 - not used
; Input A3 - Enable Input
; Input A4 - not used
; Input B1 - not used
; Input B2 - not used
; Input B3 - not used
; Input B4 - not used
; Input C1 - not used
; Input C2 - not used
; Input C3 - not used
; Input C4 - not used
; Output 1 - Pick Arm
; Output 2 - Gripper
; Output 3 - not used
; Output 4 - not used
;********************** Initialize and Set Variables ***********************
UNITS = 1
ACCEL = 75
DECEL =75
MAXV = 10
;V1 =
;V2 =
;********************** Events *********************************************
;Set Events handling here
;********************** Main Program **************************************
RESET_DRIVE:
;Place holder for Fault Handler Routine
WAIT UNTIL IN_A3: ;Make sure that the Enable input is made before
continuing
ENABLE
PROGRAM_START:
MOVEP 0 ;Move to Pick position
OUT1 = 1 ;Turn on output 1 to extend Pick arm
WAIT TIME 1000 ;Delay 1 sec to extend arm
OUT2 = 1 ;Turn on output 2 to Engage gripper
WAIT TIME 1000 ;Delay 1 sec to Pick part
OUT1 = 0 ;Turn off output 1 to Retract Pick arm
MOVED -10 ;Move 10 REVs to Place position
OUT1 = 1 ;Turn on output 1 to extend Pick arm
WAIT TIME 1000 ;Delay 1 sec to extend arm
OUT2 = 0 ;Turn off output 2 to Disengage gripper
WAIT TIME 1000 ;Delay 1 sec to Place part
OUT1 = 0 ;Retract Pick arm
GOTO PROGRAM_START
END
;********************** Sub-Routines ***************************************
Enter Sub-Routine code here
;********************** Fault Handler Routine ******************************
;
Enter Fault Handler code here
ON FAULT
ENDFAULT
Programming Manual
Valid for Hardware Version 2
PositionServo with MVOB