Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 429)

Application Examples • Automated Test Station 407
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
;------------------------------ Main Program ------------------------------
S1 CONT ;Activate scan for Stop input
DISABLE ;Disable IQ to allow operator to move motor
; shaft to load the part
ALL OFF ;Clear all outputs
Ready = ON ;Signal ready for a new part
Timerdone = OFF ;Clear timer
Begin: ;Beginning of test loop
WAIT Testcomplete = OFF ;Wait for host to read data and clear flag
WAIT Starttest = ON ;Wait for start input
ALL OFF ;Clear all outputs
ENABLE ;Enable IQ
;Check to see which test to perform and jump to the
; proper section ON Testnumber JUMP Setuperr, Begin1,
; Begin2, Begin3, Begin4
Setuperr:
Setuperror = ON ;Signal error in test data
DISABLE ;Disable IQ
JUMP Begin ;Go back to beginning
;Test 1 - Measure torque at a fixed velocity
Begin1:
IF Testvel <= 0 JUMP Setuperr ;Check if valid velocity
IF Maxtorque <= 0 JUMP Setuperr ;Check if valid tolerance
IF Mintorque < 0 JUMP Setuperr ;Check if valid tolerance
TIMER1 = Testdelay ;Set timer value
S2 ON ;Start timer scanned event
Starttimer = ON ;Start timer
MOVV = Testvel ;Start motion
WAIT Timerdone = ON ;Wait for timer to finish
Meascurrent = ICMD ;Read current
MOVV = 0 ;Stop motion
DISABLE ;Disable IQ
Test1torque = Meascurrent ;Calculate torque
* Torqueconst
IF Test1torque > Maxtorque ;Check if torque within tolerance
Fail = ON ; if not - the part fails
ELSE
{
IF Test1torque > Mintorque
Pass = ON ; otherwise - the part passes
ELSE
Fail = ON
}
JUMP Done ;Finish the test
;Test 2 - Stress test
Begin2:
IF Testvel <= 0 JUMP Setuperr ;Check if valid velocity
IF Maxdistance <= 0 ;Check if valid tolerance
JUMP Setuperr
IF Currentlimit <= 0 ;Check if valid Ilimit
JUMP Setuperr
ILIMIT = Currentlimit ;Set current limit
Startpos = PCMD ;Capture starting position
Targetpos = PCMD + Maxdistance ;Calculate minimum move distance
TIMER1 = Testdelay ;Set timer value
S2 ON ;Start timer scanned event
Starttimer = ON ;Start timer
MOVV = Testvel ;Start moving
WAIT PCMD >= Targetpos ;Wait until commanded motion reaches target