REM -- Configuration Originally Generated based on part number: ACR9040/P3/U0/B0
 
REM -- Primary System Settings for ACR Device
SYS
HALT ALL
NEW ALL
CLEAR
DETACH ALL
 
REM-----Allocate system memory-----
DIM PROG0(300000)
'DIM PROG1(100000)
DIM PROG8(10000)
DIM PROG9(10000)
'DIM PROG15(114688)
DIM PLC0(10000)
REM Some Global Memory is used by Wizard Generated Code
 
DIM P(4096)
DIM DEF(1000)
 
REM -- Hardware Configuration
 
 
REM 0 = 12 bit card present, 1 = 16 bit card present
ADC MODE 1
 
 
 
 
 
REM CANopen Settings
P32768=5
P32769=125
P32772=50
P32770=1
P33024=1
 
 
REM EPL Settings
P37376=2
P37632=1
P37634=7
P37648=2
P37650=7
PERIOD 0.0005
 
ATTACH AXIS0 EPLD0
AXIS0 PPU 8000.000000
AXIS0 EXC (1,-1)
REM ACR Extended IO Settings
SET BIT8468
CLR BIT8464
SET BIT8470
SET BIT8469
CLR BIT8453
CLR BIT8471
REM Axis Gains values
AXIS0 TLM 10
REM Axis Limits
AXIS0 HLBIT 3328
AXIS0 HLDEC 500
CLR BIT16144
CLR BIT16145
SET BIT16148
SET BIT16149
AXIS0 SLM (0,0)
AXIS0 SLDEC 500
CLR BIT16150
CLR BIT16151
AXIS0 ON
ATTACH AXIS1 EPLD1
AXIS1 PPU 8000.000000
AXIS1 EXC (1,-1)
REM ACR Extended IO Settings
SET BIT8500
CLR BIT8496
SET BIT8502
SET BIT8501
CLR BIT8485
CLR BIT8503
REM Axis Gains values
AXIS1 TLM 10
REM Axis Limits
AXIS1 HLDEC 500
SET BIT16176
SET BIT16177
CLR BIT16180
CLR BIT16181
AXIS1 SLM (0,0)
AXIS1 SLDEC 500
CLR BIT16182
CLR BIT16183
AXIS1 ON
 
REM Turn off any unused Axes
AXIS2 OFF
AXIS3 OFF
AXIS4 OFF
AXIS5 OFF
AXIS6 OFF
AXIS7 OFF
AXIS8 OFF
AXIS9 OFF
AXIS10 OFF
AXIS11 OFF
AXIS12 OFF
AXIS13 OFF
AXIS14 OFF
AXIS15 OFF
 
 
REM Code Generated by ComACRsrvr Module, File Version: 1.1.2.33 @ Wednesday, June 20, 2007 16:58:02
REM Code Generated from map:program8k v1.1  CodeMap File:C:\WINDOWS\system32\kjconfig.cmp v3.6
REM Program Level setup for the ACR Card
 
PROG0
DETACH
ATTACH MASTER0
ATTACH SLAVE0 AXIS0 "X"
ATTACH SLAVE1 AXIS1 "Y"
 
REM the desired master acceleration
ACC 100
REM the desired master deceleration ramp
DEC 100
REM the desired master stop ramp (deceleration at end of move)
STP 100
REM the desired master velocity
VEL 10
REM the desired acceleration versus time profile.
JRK 0
 
SYS 
#DEFINE bFoundHomeX BIT16134
#DEFINE InputA BIT3328
#DEFINE InputB BIT3329
#DEFINE InputC BIT3330
#DEFINE InputD BIT3331
#DEFINE InputE BIT3332
#DEFINE InputF BIT3333
#DEFINE InputG BIT3334
#DEFINE InputH BIT256
#DEFINE OutA Bit3840
#DEFINE OutB Bit3841
#DEFINE OutC Bit3842
#DEFINE OutD Bit3843
#DEFINE DiscoverCAN BIT11264
#DEFINE StartCAN BIT11265
#DEFINE ResetCAN BIT11266
#DEFINE CANPresent BIT11268
#DEFINE CANOperational BIT11269
#DEFINE CANStartFailed BIT11270
#DEFINE CANNodeFailure BIT11271
#DEFINE RemapCAN P32771
#DEFINE StartEPL BIT16640
#DEFINE ResetEPL BIT16641
#DEFINE EPLPresent BIT16648
#DEFINE EPLOperational BIT16649
#DEFINE EPLStartFailed BIT16650
#DEFINE EPLNodeFailure BIT16651
#DEFINE EPLDStreamOpen BIT16652
#DEFINE EPLDStreamStopped BIT16653
#DEFINE EPLDrivesEnabled BIT16654
#DEFINE EPLPeriodError BIT16655
#DEFINE EPLStarting BIT16656
#DEFINE EPLResetting BIT16657
#DEFINE EPLDStreamOpening BIT16660
#DEFINE DriveEnableState 8476
#DEFINE iAXES 2 : REM  constant for number axes in the system
#DEFINE bDRIVESTATE 8476 : REM constant for 1st drive enable state flag
#DEFINE iINDEX LV0 : REM local variable used as a counter
#DEFINE bDRIVERESETTING 

PROG0
PROGRAM 
DIM LV1
GOSUB setup
'''''program will loop continously in "main". 
'''''When an an Input is set, program will jump to the appropriate subroutine 
'''''and return to the main loop when motion is completed. 

_main
IF (InputA) THEN X/1 : INH -516
IF (InputB) THEN Y/1 : INH -516
IF (InputC) THEN X/2 Y/2 : INH -516
IF (InputD) THEN X/-2 Y/-2 : INH -516
GOTO main

_setup
HLIM X0 : REM enables both limits for X axis
ACC 100 DEC 100 STP 100 
VEL 25
FOR iINDEX = 0 TO (iAXES-1) STEP 1
	AXIS(iINDEX) DRIVE ON
	INH (bDRIVESTATE + iINDEX*32)
NEXT
RETURN
ENDP

PROG8
PROGRAM
PBOOT
DIM LV3
INH CANPresent
SET ResetCAN
INH ResetCAN
INH -ResetCAN

' CAN network should be RESET before before attempting to start. 
	
RemapCAN=1

SET StartCAN
P6916=0
WHILE (NOT CANOperational )
	IF (CANStartFailed)
		PRINT "CAN network has failed to start"
	ENDIF 
    IF (P6916 > 10000) THEN BREAK
WEND 

IF (CANOperational)
		PRINT "CAN network is operational"
	ELSE IF (CANStartFailed)
		PRINT "CAN network has failed to start"
ENDIF 


IF (EPLOperational)
	PRINT "EPL network is operational"
ENDIF 

SET ResetEPL
INH EPLResetting
INH -EPLResetting

SET StartEPL
INH EPLStarting
INH -EPLStarting

WHILE (NOT EPLOperational)
	IF (EPLStartFailed)
		PRINT "EPL network has failed to start"
		BREAK
	ENDIF 
WEND 

IF (EPLOperational)
	PRINT "EPL network is operational"
		ELSE IF (EPLStartFailed)
			PRINT "EPL network has failed to start"
			END
ENDIF 
RUN PROG9

ENDP

PROG9
program
dim lv1
CLOSE #1
IF (BIT 9473)
	OPEN "EPLD0:" AS #1
	TALKTO #1
	GOSUB MOTORCONFIG
	CLOSE #1
	DWL 1
ENDIF
IF (BIT 9505)
OPEN "EPLD1:" AS #1
TALKTO #1
GOSUB MOTORCONFIG
CLOSE #1
DWL 1
ENDIF

FOR iINDEX = 0 TO (iAXES-1) STEP 1
	AXIS(iINDEX) DRIVE RES
	DWL 3
NEXT
FOR iINDEX = 0 TO (iAXES-1) STEP 1
	AXIS(iINDEX)DGAIN 0.00002
	AXIS(iINDEX)PGAIN 0.003
	
NEXT
if (not bit 5645)
FOR iINDEX = 0 TO (iAXES-1) STEP 1
	AXIS(iINDEX) DRIVE ON
	NEXT 
	RUN PROG0
endif


RUN PLC0

END
_MOTORCONFIG
PRINT #1,"C65=0"
PRINT #1,"C47=32"
PRINT #1,"C8=83.3"
PRINT #1,"C9=4"
PRINT #1,"C11=9.04"
PRINT #1,"C10=23.6"
PRINT #1,"C28=13.33"
PRINT #1,"C29=1.6"
PRINT #1,"C27=0.88"
PRINT #1,"C26=25"
PRINT #1,"C6=125"
PRINT #1,"C39=1"
PRINT #1,"C25=3"
PRINT #1,"C15=29.89"
PRINT #1,"C1=1.94"
PRINT #1,"C2=5.35"
PRINT #1,"C3=5.83"
PRINT #1,"C7=6.97"
PRINT #1,"C5=0.850746"
PRINT #1,"C4=30.82"
PRINT #1,"C12=0"
PRINT #1,"C0=8000"
PRINT #1,"C55=0"
PRINT #1,"C59=0"
PRINT #1,"C22=0"
PRINT #1,"C82=0"
PRINT #1,"C20=0"
PRINT #1,"C67=6"
PRINT #1,"C38=16"
PRINT #1,"C14=2.35"
PRINT #1,"C17=2.35"
PRINT #1,"C45=83.3"
PRINT #1,"C16=600"
PRINT #1,"C18=0"
PRINT #1,"C19=0"
PRINT #1,"C23=0"
PRINT #1,"C46=1"
PRINT #1,"C41=0"
PRINT #1,"C40=0"
PRINT #1,"C42=0"
PRINT #1,"C43=0"
PRINT #1,"C30=0"
PRINT #1,"C31=0"
PRINT #1,"C32=1"
PRINT #1,"C33=0"
PRINT #1,"C34=0"
PRINT #1,"C35=1"
PRINT #1,"C36=0"
PRINT #1,"C37=200"
PRINT #1,"X12=BE231DJ"
DWL 1
RETURN


EndP


PLC0
20 LD 5645
30 AND 5646
40 OUT 1033
60 LD 5645
70 AND NOT 5646
80 OUT 1032
100 LD 3332
110 OUT 3840
130 LD 3333
140 OUT 3841
160 LD 3334
170 OUT 3842
190 LD 256
200 OUT 3843
210 END