Home > Resources > Example Programs > Multiple Position Trips

Multiple Position Trips

Description

Example program to show how to use multiple position trips within a program.

This program will index the motor, while printing the position and velocity at each trip point, then repeat. It illustrates defining multiple position trips within a single program.

Requirements

Compatible product
DC power supply
Communications/Network

Example program

Liberty* MCodeMDrive MCode

'LIBERTY* MDRIVE DEMO PROGRAM
'Last modified 02/21/2013
'Sample test program for demontsration purposes only
'Not tested or verified for safety or any function
'Distance traveled is V * 12 sec.
' 33 RPM * 0.2 min =  6.6 revs. X 51200 uSteps =  337920 uStp.
' 66 RPM * 0.2 min = 13.2 revs. X 51200 uSteps =  675840 uStp.
'100 RPM * 0.2 min = 19.8 revs. X 51200 uSteps = 1013760 uStp.
' Slew Rate is V/60 * 51200 uSteps/sec.
' 33 RPM /60 Sec.  X 51200 uSteps =  28160 uStp./Sec.
' 66 RPM /60 Sec.  X 51200 uSteps =  56320 uStp./Sec.
'100 RPM /60 Sec.  X 51200 uSteps =  85333 uStp./Sec.
'Step 1  V=33RPM
'Step 2  V=66RPM
'Step 3  V=100RPM
'Step 4  V=66RPM
'Step 5  V=33RPM
'Step 6  V=-33RPM
'Step 7  V=-66RPM
'Step 8  V=-100RPM
'Step 9  V=-66RPM
'Step 10 V=-33RPM
'STEPS
'   1   2    3    4   5    6    7   8    9    10
'           ____
'      ____|    |____
'  ___|              |___
'_|______________________|______________________________Ds
'                        |___                ____|
'                            |____      ____|
'                                 |____|

'[VARIABLES]
VA Sp=33*51200/60 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m
VA Ds=50000  'Length of first step.
'[PROGRAMS]
PG 1
  R1=0
  P=0       'set position counter to 0
  LB Aa
    PR ""
    PR "Starting Step 1   P=",P,"    V=",V
    Tp Ds,X1
    Te=2  
    Vm=Sp       'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m
    MA Ds*9,0,1 
    LB G1
      BR G1,R1=0
      R1=0
      BR Aa
    E
  
'[SUBROUTINES]
'Each sub will move a dist at a velocity
'then redefine and re-enable the trip
'Step 2 speed 66 RPM * 51200 Stp/rev /60 s/m
  LB X1
    PR " Starting Step 2   P=",P,"   V=",V
    Vm= Sp*2    
    MA Ds*9,0,1 
    Tp Ds*3,X2  
    Te=2       
    RT
'Step 3 speed 100 RPM * 51200 Stp/rev /60 s/m	
  LB X2
    PR "  Starting Step 3   P=",P,"  V=",V
    Vm= Sp*3    
    MA Ds*9,0,1 
    Tp  Ds*6,X3 
    Te=2       
    RT
'Step 4 speed 66 RPM * 51200 Stp/rev /60 s/m
  LB X3
    PR "   Starting Step 4   P=",P,"  V=",V
    Vm= Sp*2    
    MA Ds*9,0,1 
    Tp Ds*8,X4  
    Te=2 
    RT
  
'Step 5 speed 33 RPM * 51200 Stp/rev /60 s/m
  LB X4
    PR "    Starting Step 5   P=",P,"  V=",V
    Vm= Sp      
    MA Ds*9 ',0,1
    Tp Ds*9,X5
    Te=2 
    RT
  
'Step 6 speed 33 RPM * 51200 Stp/rev /60 s/m
  LB X5
    PR "     Starting Step 6   P=",P,"  V=",V
    Vm= Sp      
    MA 0,0,1
    Tp Ds*8,X6
    Te=2
    RT
  
'Step 7 speed 66 RPM * 51200 Stp/rev /60 s/m
  LB X6
    PR "      Starting Step 7   P=",P,"  V=",V
    Vm= Sp*2    
    MA 0,0,1
    Tp Ds*6,X7
    Te=2
    RT
  
'Step 8 speed 100 RPM * 51200 Stp/rev /60 s/m
  LB X7
    PR "       Starting Step 8   P=",P,"  V=",V
    Vm= Sp*3    
    MA 0,0,1
    Tp Ds*3,X8
    Te=2
    RT
	
'Step 9 speed 66 RPM * 51200 Stp/rev /60 s/m
  LB X8
    PR "        Starting Step 9   P=",P,"  V=",V
    Vm= Sp*2    
    MA 0,0,1
    Tp Ds,X9
    Te=2 
    RT
'Step 10 speed 33 RPM * 51200 Stp/rev /60 s/m
  LB X9
    PR "         Starting Step 10  P=",P,"   V=",V
    Vm= Sp      
    MA 0 
    H 
    PR "          Back at Start     P=",P,"   V=",V
    R1=1
    RT
  
  PG
S
'Keep this line.

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'LIBERTY* MDRIVE DEMO PROGRAM

'Last modified 02/21/2013

'Sample test program for demontsration purposes only

'Not tested or verified for safety or any function

'Distance traveled is V * 12 sec.

' 33 RPM * 0.2 min = 6.6 revs. X 51200 uSteps = 337920 uStp.

' 66 RPM * 0.2 min = 13.2 revs. X 51200 uSteps = 675840 uStp.

'100 RPM * 0.2 min = 19.8 revs. X 51200 uSteps = 1013760 uStp.

' Slew Rate is V/60 * 51200 uSteps/sec.

' 33 RPM /60 Sec. X 51200 uSteps = 28160 uStp./Sec.

' 66 RPM /60 Sec. X 51200 uSteps = 56320 uStp./Sec.

'100 RPM /60 Sec. X 51200 uSteps = 85333 uStp./Sec.

'Step 1 V=33RPM

'Step 2 V=66RPM

'Step 3 V=100RPM

'Step 4 V=66RPM

'Step 5 V=33RPM

'Step 6 V=-33RPM

'Step 7 V=-66RPM

'Step 8 V=-100RPM

'Step 9 V=-66RPM

'Step 10 V=-33RPM

'STEPS

' 1 2 3 4 5 6 7 8 9 10

' ____

' ____| |____

' ___| |___

'_|______________________|______________________________Ds

' |___ ____|

' |____ ____|

' |____|

'[VARIABLES]

VA Sp=33*51200/60 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m

VA Ds=50000 'Length of first step.

'[PROGRAMS]

PG 1

R1=0

P=0 'set position counter to 0

LB Aa

PR ""

PR "Starting Step 1 P=",P," V=",V

Tp Ds,X1

Te=2

Vm=Sp 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m

MA Ds*9,0,1

LB G1

BR G1,R1=0

R1=0

BR Aa

'[SUBROUTINES]

'Each sub will move a dist at a velocity

'then redefine and re-enable the trip

'Step 2 speed 66 RPM * 51200 Stp/rev /60 s/m

LB X1

PR " Starting Step 2 P=",P," V=",V

Vm= Sp*2

MA Ds*9,0,1

Tp Ds*3,X2

Te=2

'Step 3 speed 100 RPM * 51200 Stp/rev /60 s/m

LB X2

PR " Starting Step 3 P=",P," V=",V

Vm= Sp*3

MA Ds*9,0,1

Tp Ds*6,X3

Te=2

'Step 4 speed 66 RPM * 51200 Stp/rev /60 s/m

LB X3

PR " Starting Step 4 P=",P," V=",V

Vm= Sp*2

MA Ds*9,0,1

Tp Ds*8,X4

Te=2

'Step 5 speed 33 RPM * 51200 Stp/rev /60 s/m

LB X4

PR " Starting Step 5 P=",P," V=",V

Vm= Sp

MA Ds*9 ',0,1

Tp Ds*9,X5

Te=2

'Step 6 speed 33 RPM * 51200 Stp/rev /60 s/m

LB X5

PR " Starting Step 6 P=",P," V=",V

Vm= Sp

MA 0,0,1

Tp Ds*8,X6

Te=2

'Step 7 speed 66 RPM * 51200 Stp/rev /60 s/m

LB X6

PR " Starting Step 7 P=",P," V=",V

Vm= Sp*2

MA 0,0,1

Tp Ds*6,X7

Te=2

'Step 8 speed 100 RPM * 51200 Stp/rev /60 s/m

LB X7

PR " Starting Step 8 P=",P," V=",V

Vm= Sp*3

MA 0,0,1

Tp Ds*3,X8

Te=2

'Step 9 speed 66 RPM * 51200 Stp/rev /60 s/m

LB X8

PR " Starting Step 9 P=",P," V=",V

Vm= Sp*2

MA 0,0,1

Tp Ds,X9

Te=2

'Step 10 speed 33 RPM * 51200 Stp/rev /60 s/m

LB X9

PR " Starting Step 10 P=",P," V=",V

Vm= Sp

MA 0

PR " Back at Start P=",P," V=",V

R1=1

'Keep this line.

*Previously Lexium

'MDRIVE DEMO PROGRAM
'Last modified 08/25/2016
'Sample test program for demonstration purposes only
'Not tested or verified for safety or any function
CP   'preclear program memory

'*** Sample test program for demonstration purposes only.
'*** Not tested or verified for safety or any function.
'*** Such testing is the sole responsibility of user/customer
'*** Speed steps are a rough aproximation of a sine wave.
'*** Peak RPM= 100
'*** 5 steps in one minute.
'*** Each step is 0.2 or 12 seconds
'*** Distance traveled is V * 12 sec.
' 33 RPM * 0.2 min =  6.6 revs. X 51200 uSteps =  337920 uStp.
' 66 RPM * 0.2 min = 13.2 revs. X 51200 uSteps =  675840 uStp.
'100 RPM * 0.2 min = 19.8 revs. X 51200 uSteps = 1013760 uStp.
'*** Slew Rate is V/60 * 51200 uSteps/sec.
' 33 RPM /60 Sec.  X 51200 uSteps =  28160 uStp./Sec.
' 66 RPM /60 Sec.  X 51200 uSteps =  56320 uStp./Sec.
'100 RPM /60 Sec.  X 51200 uSteps =  85333 uStp./Sec.
'Step 1  V=33RPM
'Step 2  V=66RPM
'Step 3  V=100RPM
'Step 4  V=66RPM
'Step 5  V=33RPM
'Step 6  V=-33RPM
'Step 7  V=-66RPM
'Step 8  V=-100RPM
'Step 9  V=-66RPM
'Step 10 V=-33RPM
'STEPS
'   1   2    3    4   5    6    7   8    9    10
'           ____
'      ____|    |____
'  ___|              |___
'_|______________________|______________________________Ds
'                        |___                ____|
'                            |____      ____|
'                                 |____|

'*** Parameter Setup ***
VA Sp=33*51200/60 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m
VA Ds=50000  'Length of first step.
'*** Program ***
PG 1
  R1=0
  P=0       'set position counter to 0
  LB Aa
    PR ""
    PR "Starting Step 1   P=",P,"    V=",V
    Tp Ds,X1    'Set set up trip on position function
    Te=2       'enable trip on position function
    Vm=Sp       'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m
    MA Ds*9,0,1 'Move Absolute but keep going at end of move
    LB G1
      BR G1,R1=0
      R1=0
      BR Aa
    E
  
  '*** Trip Subroutines ***
  LB X1
    PR " Starting Step 2   P=",P,"   V=",V
    Vm= Sp*2    'Step 2 speed 66 RPM * 51200 Stp/rev /60 s/m
    MA Ds*9,0,1 'Move Absolute but keep going at end of move
    Tp Ds*3,X2  'redefine trip
    Te=2       'enable it
    RT
  
  LB X2
    PR "  Starting Step 3   P=",P,"  V=",V
    Vm= Sp*3    'Step 3 speed 100 RPM * 51200 Stp/rev /60 s/m
    MA Ds*9,0,1 'Move Absolute but keep going at end of move
    Tp  Ds*6,X3 'redefine trip
    Te=2       'enable it
    RT
  
  LB X3
    PR "   Starting Step 4   P=",P,"  V=",V
    Vm= Sp*2    'Step 4 speed 66 RPM * 51200 Stp/rev /60 s/m
    MA Ds*9,0,1 'Move Absolute but keep going at end of move
    Tp Ds*8,X4  'redefine trip
    Te=2       'enable it
    RT
  
  LB X4
    PR "    Starting Step 5   P=",P,"  V=",V
    Vm= Sp      'Step 5 speed 33 RPM * 51200 Stp/rev /60 s/m
    MA Ds*9 ',0,1 'Move Absolute but keep going at end of move
    Tp Ds*9,X5  'redefine trip
    Te=2       'enable it
    RT
  
  LB X5
    PR "     Starting Step 6   P=",P,"  V=",V
    Vm= Sp      'Step 6 speed 33 RPM * 51200 Stp/rev /60 s/m
    MA 0,0,1    'Move Absolute but keep going at end of move
    Tp Ds*8,X6  'redefine trip
    Te=2       'enable it
    RT
  
  LB X6
    PR "      Starting Step 7   P=",P,"  V=",V
    Vm= Sp*2    'Step 7 speed 66 RPM * 51200 Stp/rev /60 s/m
    MA 0,0,1    'Move Absolute but keep going at end of move
    Tp Ds*6,X7  'redefine trip
    Te=2       'enable it
    RT
  
  LB X7
    PR "       Starting Step 8   P=",P,"  V=",V
    Vm= Sp*3    'Step 8 speed 100 RPM * 51200 Stp/rev /60 s/m
    MA 0,0,1    'Move Absolute but keep going at end of move
    Tp Ds*3,X8  'redefine trip
    Te=2        'enable it
    RT
  
  LB X8
    PR "        Starting Step 9   P=",P,"  V=",V
    Vm= Sp*2    'Step 9 speed 66 RPM * 51200 Stp/rev /60 s/m
    MA 0,0,1    'Move Absolute but keep going at end of move
    Tp Ds,X9   'redefine trip
    Te=2        'enable it
    RT
  
  LB X9
    PR "         Starting Step 10  P=",P,"   V=",V
    Vm= Sp      'Step 10 speed 33 RPM * 51200 Stp/rev /60 s/m
    MA 0        'Move Absolute to beginning
    H           'Hold until motion stops
    PR "          Back at Start     P=",P,"   V=",V
    R1=1
    RT
  
  PG
S
'Keep this line.

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'MDRIVE DEMO PROGRAM

'Last modified 08/25/2016

'Sample test program for demonstration purposes only

'Not tested or verified for safety or any function

CP 'preclear program memory

'*** Sample test program for demonstration purposes only.

'*** Not tested or verified for safety or any function.

'*** Such testing is the sole responsibility of user/customer

'*** Speed steps are a rough aproximation of a sine wave.

'*** Peak RPM= 100

'*** 5 steps in one minute.

'*** Each step is 0.2 or 12 seconds

'*** Distance traveled is V * 12 sec.

' 33 RPM * 0.2 min = 6.6 revs. X 51200 uSteps = 337920 uStp.

' 66 RPM * 0.2 min = 13.2 revs. X 51200 uSteps = 675840 uStp.

'100 RPM * 0.2 min = 19.8 revs. X 51200 uSteps = 1013760 uStp.

'*** Slew Rate is V/60 * 51200 uSteps/sec.

' 33 RPM /60 Sec. X 51200 uSteps = 28160 uStp./Sec.

' 66 RPM /60 Sec. X 51200 uSteps = 56320 uStp./Sec.

'100 RPM /60 Sec. X 51200 uSteps = 85333 uStp./Sec.

'Step 1 V=33RPM

'Step 2 V=66RPM

'Step 3 V=100RPM

'Step 4 V=66RPM

'Step 5 V=33RPM

'Step 6 V=-33RPM

'Step 7 V=-66RPM

'Step 8 V=-100RPM

'Step 9 V=-66RPM

'Step 10 V=-33RPM

'STEPS

' 1 2 3 4 5 6 7 8 9 10

' ____

' ____| |____

' ___| |___

'_|______________________|______________________________Ds

' |___ ____|

' |____ ____|

' |____|

'*** Parameter Setup ***

VA Sp=33*51200/60 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m

VA Ds=50000 'Length of first step.

'*** Program ***

PG 1

R1=0

P=0 'set position counter to 0

LB Aa

PR ""

PR "Starting Step 1 P=",P," V=",V

Tp Ds,X1 'Set set up trip on position function

Te=2 'enable trip on position function

Vm=Sp 'Step 1 speed 33 RPM * 51200 Stp/rev /60 s/m

MA Ds*9,0,1 'Move Absolute but keep going at end of move

LB G1

BR G1,R1=0

R1=0

BR Aa

'*** Trip Subroutines ***

LB X1

PR " Starting Step 2 P=",P," V=",V

Vm= Sp*2 'Step 2 speed 66 RPM * 51200 Stp/rev /60 s/m

MA Ds*9,0,1 'Move Absolute but keep going at end of move

Tp Ds*3,X2 'redefine trip

Te=2 'enable it

LB X2

PR " Starting Step 3 P=",P," V=",V

Vm= Sp*3 'Step 3 speed 100 RPM * 51200 Stp/rev /60 s/m

MA Ds*9,0,1 'Move Absolute but keep going at end of move

Tp Ds*6,X3 'redefine trip

Te=2 'enable it

LB X3

PR " Starting Step 4 P=",P," V=",V

Vm= Sp*2 'Step 4 speed 66 RPM * 51200 Stp/rev /60 s/m

MA Ds*9,0,1 'Move Absolute but keep going at end of move

Tp Ds*8,X4 'redefine trip

Te=2 'enable it

LB X4

PR " Starting Step 5 P=",P," V=",V

Vm= Sp 'Step 5 speed 33 RPM * 51200 Stp/rev /60 s/m

MA Ds*9 ',0,1 'Move Absolute but keep going at end of move

Tp Ds*9,X5 'redefine trip

Te=2 'enable it

LB X5

PR " Starting Step 6 P=",P," V=",V

Vm= Sp 'Step 6 speed 33 RPM * 51200 Stp/rev /60 s/m

MA 0,0,1 'Move Absolute but keep going at end of move

Tp Ds*8,X6 'redefine trip

Te=2 'enable it

LB X6

PR " Starting Step 7 P=",P," V=",V

Vm= Sp*2 'Step 7 speed 66 RPM * 51200 Stp/rev /60 s/m

MA 0,0,1 'Move Absolute but keep going at end of move

Tp Ds*6,X7 'redefine trip

Te=2 'enable it

LB X7

PR " Starting Step 8 P=",P," V=",V

Vm= Sp*3 'Step 8 speed 100 RPM * 51200 Stp/rev /60 s/m

MA 0,0,1 'Move Absolute but keep going at end of move

Tp Ds*3,X8 'redefine trip

Te=2 'enable it

LB X8

PR " Starting Step 9 P=",P," V=",V

Vm= Sp*2 'Step 9 speed 66 RPM * 51200 Stp/rev /60 s/m

MA 0,0,1 'Move Absolute but keep going at end of move

Tp Ds,X9 'redefine trip

Te=2 'enable it

LB X9

PR " Starting Step 10 P=",P," V=",V

Vm= Sp 'Step 10 speed 33 RPM * 51200 Stp/rev /60 s/m

MA 0 'Move Absolute to beginning

H 'Hold until motion stops

PR " Back at Start P=",P," V=",V

R1=1

'Keep this line.

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Multiple Position Trips

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