Appendixes – Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 User Manual
Page 428

406
Application Examples • Automated Test Station
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
TITLE "ATS"
;Source File Name: ATS.QPS
;Version: 3.00 2/29/96
PGMTYPE = MAINPGM
;------------------------------ Description ------------------------------
;This program performs four different tests on a part:
;Test 1 is used to measure torque of a rotating part or assembly
;Test 2 is used to apply constant torque and measure deflection of a part
;Test 3 is used to apply constant torque and measure velocity
;Test 4 is used to measure bi-directional deflection of an assembly
;Outputs are used to signal if ready for a test and if the part passes or
; fails. The operator activates a start input when the part is loaded.
;A serial interface to a host computer is used to transmit test results and
;accept test parameters.
;
;-------------------------- G Variables used -----------------------------
ASSIGN Torqueconst
G1
;Motor torque constant to convert measured motor
; current in amps to torque
ASSIGN Testnumber
G2
;Determines which test to perform
ASSIGN Testvel
G3
;Move velocity for torque measurements
ASSIGN Testdelay
G4
;Delay time before making measurements to allow
; system to stabilize
ASSIGN Currentlimit
G5
;Current limit used for some tests
ASSIGN Normalcurrent
G6
;Default current limit
ASSIGN Maxtorque
G7
;Maximum torque tolerance
ASSIGN Mintorque
G8
;Minimum torque tolerance
ASSIGN Maxdistance
G9
;Maximum distance tolerance
ASSIGN Maxvel
G64
;Maximum velocity tolerance
ASSIGN Minvel
G63
;Minimum velocity tolerance
;Result storage variables
ASSIGN Test1torque
G10
;Calculated torque result for test 1
ASSIGN Test2deflect
G20
;Measured position deflection for test 2
ASSIGN Test3velocity
G30
;Measured velocity for test 3
ASSIGN Test4deflect
G40
;Measured position deflection for test 4
;-------------------------- V Variables used -----------------------------
ASSIGN Meascurrent
V1
;Used to store measured current
ASSIGN Startpos
V2
;Used to capture starting position of test
ASSIGN Targetpos
V3
;Used to calculate target position of move
ASSIGN Test4pos1
V4
;First engaged position for test 4
;-------------------------- B Variables used -----------------------------
ASSIGN Testcomplete
B1
;Used to signal host that data is available
;-------------------------- F Variables used -----------------------------
ASSIGN Starttimer
F1
;Used in scanned event to start timer
ASSIGN Timerdone
F2
;Used in scanned event to indicate timer is done
;-------------------------------- Inputs ---------------------------------
ASSIGN Starttest
I4
;Start the test
ASSIGN Stoptest
I13
;Stop the test
;-------------------------------- Outputs --------------------------------
ASSIGN Pass
O1
;Indicates the part passed the test
ASSIGN Fail
O2
;Indicates the part failed the test
ASSIGN Ready
O3
;Indicates the test is complete and ready for the
; next part
ASSIGN Setuperror
O4
;Indicates setup error
;---------------- Optional Accessories Required/Supported ----------------
;Operator Terminal - SUPPORTED
;The program can be modified to print messages to the operator terminal
; screen and allow key press control over the tests.
;---------------------------- Scanned Events -----------------------------
S1: IF Stoptest = ON Stop=ON;If Stoptest input on, stop the program
S2: TMR1 Starttimer = ON Timerdone = ON;Generic Timer routine