Control Techniques Epsilon EP-P Reference Manual page 157

If((DriveInput.4=OFF) AND (DriveOutput.4=ON)) Then
DriveOutput.4=OFF
Endif
Loop
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
Index.1.Initiate
Wait For Index.AnyCommandComplete
Call Program.1
If (DriveInput.1=ON) Then
Index.1.Dist = PosnCommand
Endif
Wait For DriveInput.1=OFF
Wait For DriveInput.2=OFF
Index.2.Initiate
Wait For Index.AnyCommandComplete
Call Program.1
If (DriveInput.1=ON) Then
Index.2.Dist = PosnCommand
Endif
Wait For DriveInput.1=OFF
Wait For DriveInput.2=OFF
Index.3.Initiate
Wait For Index.AnyCommandComplete
Call Program.1
If (DriveInput.1=ON) Then
Index.3.Dist = PosnCommand
Endif
Wait For DriveInput.1=OFF
Wait For DriveInput.2=OFF
Subroutine for Jogging the Axis into the Desired Position (Program 1)
'Allow jogging until either the "Learn" input (DriveInput.1)
'or the "Skip" input (DriveInput.2) goes ON.
Do While ((DriveInput.1=OFF) AND (DriveInput.2=OFF))
If (DriveInput.3=ON) Then
Jog.0.PlusInitiate
Do While (DriveInput.3=ON)
If (DriveInput.5=ON) Then
Jog.0.Vel = 1.0
Else
Jog.0.Vel = 0.1
Epsilon EP-P Drive Reference Manual
Revision A4
'Sensor,Offset=0.000in,Vel=-10in/s
'Move to position 1
'Program 1 allows the axis to be jogged
'into position
'Learn the new position if the "Learn"
'input is on
'Read the Position Command into Index.1's
'absolute position.
'Wait until the "Learn" input goes off
'Wait until the "Skip" input goes off
'Move to position 2
'Program 1 allows the axis to be jogged
'into position
'Learn the new position if the "Learn"
'input is on
'Read the Position Command into Index.2's
'absolute position.
'Wait until the "Learn" input goes off
'Wait until the "Skip" input goes off
'Move to position 3
'Program 1 allows the axis to be jogged
'into position
'Learn the new position if the "Learn"
'input is on
'Read the Position Command into Index.3's
'absolute position.
'Wait until the "Learn" input goes off
'Wait until the "Skip" input goes off
'Jog+ if the Jog+ input is on
'Vel=0.1in/s
'DriveInput.5 = "Jog Fast"
'in/s
'in/s
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