Lenze E94P PositionServo with MVOB User Manual
Positionservo with mvob, Programming manual, Valid for hardware version 2

***************************** HEADER ***************************************
;Title:
Pick and Place example program
;Author:
Lenze - AC Technology
;Description:
This is a sample program showing a simple sequence that
;
picks up a part, moves to a set position and drops the part
;**************************** I/O List ************************************
;
Input A1
-
not used
;
Input A2
-
not used
;
Input A3
-
Enable Input
;
Input A4
-
not used
;
Input B1
-
not used
;
Input B2
-
not used
;
Input B3
-
not used
;
Input B4
-
not used
;
Input C1
-
not used
;
Input C2
-
not used
;
Input C3
-
not used
;
Input C4
-
not used
;
Output 1
-
Pick Arm
;
Output 2
-
Gripper
;
Output 3
-
not used
;
Output 4
-
not used
;********************** Initialize and Set Variables ***********************
UNITS = 1
ACCEL = 75
DECEL =75
MAXV = 10
;V1 =
;V2 =
;********************** Events *********************************************
;Set Events handling here
;********************** Main Program **************************************
RESET_DRIVE:
;Place holder for Fault Handler Routine
WAIT UNTIL IN_A3:
;Make sure that the Enable input is made before
continuing
ENABLE
PROGRAM_START:
MOVEP 0
;Move to Pick position
OUT1 = 1
;Turn on output 1 to extend Pick arm
WAIT TIME 1000
;Delay 1 sec to extend arm
OUT2 = 1
;Turn on output 2 to Engage gripper
WAIT TIME 1000
;Delay 1 sec to Pick part
OUT1 = 0
;Turn off output 1 to Retract Pick arm
MOVED -10
;Move 10 REVs to Place position
OUT1 = 1
;Turn on output 1 to extend Pick arm
WAIT TIME 1000
;Delay 1 sec to extend arm
OUT2 = 0
;Turn off output 2 to Disengage gripper
WAIT TIME 1000
;Delay 1 sec to Place part
OUT1 = 0
;Retract Pick arm
GOTO PROGRAM_START
END
;********************** Sub-Routines ***************************************
Enter Sub-Routine code here
;********************** Fault Handler Routine ******************************
;
Enter Fault Handler code here
ON FAULT
ENDFAULT
Programming Manual
Valid for Hardware Version 2
PositionServo with MVOB