Emerson FM-3 Manuel d'installation télécharger pdf (Page 110)

FM-3 Programming Module Reference Manual

Sequence Learn and Playback

This example consists of three programs. The first program is used to learn 3 positions using

“Jog+”, “Jog-“, “Jog Fast” and “Learn” inputs. The second program is called several times

by the first program. The third program steps through the learned positions

Learn Program (Program 0)

Home.0.Initiate ‘Sensor,Offset=0.000in,Vel=-10in/s

Index.1.Initiate ‘Move to position 1

Wait For Index.AnyCommandComplete

Call Program.1 ‘Program 1 allows the axis to be jogged

‘into position

If (ModuleInput.1=ON) Then ‘Learn the new position if the “Learn”

‘input is on

Index.1.Dist = PosnCommand ‘Read the Position Command into Index.1’s

‘absolute position.

Endif

Wait For ModuleInput.1=OFF ‘Wait until the “Learn” input goes off

Wait For ModuleInput.2=OFF ‘Wait until the “Skip” input goes off

Index.2.Initiate ‘Move to position 2

Wait For Index.AnyCommandComplete

Call Program.1 ‘Program 1 allows the axis to be jogged

‘into position

If (ModuleInput.1=ON) Then ‘Learn the new position if the “Learn”

‘input is on

Index.2.Dist = PosnCommand ‘Read the Position Command into Index.2’s

‘absolute position.

Endif

Wait For ModuleInput.1=OFF ‘Wait until the “Learn” input goes off

Wait For ModuleInput.2=OFF ‘Wait until the “Skip” input goes off

Index.3.Initiate ‘Move to position 3

Wait For Index.AnyCommandComplete

Call Program.1 ‘Program 1 allows the axis to be jogged

‘into position

If (ModuleInput.1=ON) Then ‘Learn the new position if the “Learn”

‘input is on

Index.3.Dist = PosnCommand ‘Read the Position Command into Index.3’s

‘absolute position.

Endif

Wait For ModuleInput.1=OFF ‘Wait until the “Learn” input goes off

Wait For ModuleInput.2=OFF ‘Wait until the “Skip” input goes off

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Emerson FM-3 Manuel d'installation Page 110