Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 423)

Application Examples • Lane Diverter 401
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
ASSIGN Mov_vel V7 ;the calculated move speed
ASSIGN V2hold V8 ;holds vel2 for computation and S4
ASSIGN Calc_tmp1 V9 ;temporary variable for calculation
; Input Assignments
ASSIGN In_sense I11 ;the input sensor, used to determine length and
; position
ASSIGN Exit_sense1 I12 ;first exit sensor, used to determine if package
; is out of gate
ASSIGN Exit_sense2 I13 ;second exit sensor
ASSIGN Exit_sense3 I14 ;third exit sensor
; Scanned Events
S1:IF I11 EDGE ON ;look for the leading edge of a package
{
Eon2=pos2
Deb_pos = Eon2 + Deb_dist
S2 ON
}
S2:IF pos2 > Deb_pos ;wait for debounce distance before enabling S3
{
S3 ON
}
S3: IF I11=OFF ;look for trailing edge of package
{
Eon1=Eon2
Pkg_length2 = pos2-Eon2
S1 ON
}
S4:IF V2hold <> 0
{
IF VEL2 > Min_vel ;if the master changes speed during the move,
FDR = 100*VEL2/V2hold ; this tracks it
ELSE
FDR = 100*Min_vel/V2hold
}
; Main Program Setup
Setup:
Pkg_length2=0 ;clear any previous measurement
S1 ON ;turn on package measurement scans
S4 CONT ;turn on feedrate adjust scan
WAIT Exit_sense1=OFF ;make sure back of gate is clear
WAIT Exit_sense2=OFF
WAIT Exit_sense3=OFF
; Main Program
Main:
WAIT Pkg_length2<>0 ;wait for a package to be measured
Pkg_length1 = Pkg_length2 ;get measurement
;reset so we can tell if another package has been
; measured
Pkg_length2 = 0
IF Pkg_length1 > Range2 Target=Gate_pos3
;sort measurement and set
IF Pkg_length1 <= Range2 Target=Gate_pos2
; gate target position
IF Pkg_length1 <= Range1 Target=Gate_pos1