Example Programs - Control Techniques Epsilon EP-P Reference Manual

Figure 143:
4.6

Example Programs

Out and Return - Simple
Description: Move out to an absolute position and return
Index.2.Initiate
Index.1.Initiate
Wait For Index.AnyCommandComplete
Out and Return – More Complex
Description: Home, Wait For an input, Move out to an absolute position, set an output, dwell for 1 second, clear the output,
return to home position, repeat the out and return sequence until the stop input halts the program.
Home.0.Initiate
DriveOutput.1=ON
Do While (TRUE)
Wait For DriveInput.2=ON
Epsilon EP-P Drive Reference Manual
Revision A4
Switch to next task
Yes
Time Slicing Flow Chart
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t = 0 usec
Control Loop Update
Yes
Message(s)
Waiting?
No
Process Task
End of
Update?
t = 1600 usec
No
No
Task
Blocked?
Yes
Switch to next task
'Absolute,Posn=10.000in,Vel=5.0in/s
'Absolute,Posn=0.000in,Vel=10.0in/s
'Sensor,Offset=0.000in,Vel=-10.0in/s
'Set the "At Position 1" output
'Repeat until the program is halted
'Wait for the "Go" Input
Process
Message(s)
139