Rockwell Automation 57C421B Pulsetach Input Module/DCS 5000/AutoMax - Manual (Page 39)

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Positioning Mode Example (Continued)
4005 !ăalways be the lowest priority task.
4006 !
4010 FOR I% = 0 TO 3 \ READ LIMIT_SWITCH%(I%) \ NEXT I%
4015 RESET@ = TRUE \ RESET@ = FALSE \!ăZero counter
4020 I% = 0 \!ăInitialize limit switch index
4025 LOW_COMP% = LIMIT_SWITCH%(I%) \!Set comparator to 1st value
4030 CNTR_EQ_RST@ = FALSE \!ăInitialize 'Comp=' status
4035 EQU_INT@ = ON \! Enable comp = interrupt
4040 CLR_MOD1@ = OFF \! Reset on equal
4045 CLR_MOD2@= ON \! Reset on equal
4050 CCLK_EN@ = ON \! Enable constant clock
5988 !
5989 !ăPlace additional initialization software here.
5990 !
5991 !
5992 !ăThe next statement synchronizes the task to the external
5993 !ăevent via the interrupt. Task execution will be suspended
5994 !ăuntil the interrupt occurs. When the interrupt occurs, if
5995 !ăthis task is the highest priority task waiting to
5996 !ăexecute, it will become active. If it is not the highest
5997 !ăpriority task, it will remain suspended until all higher
5998 !ăpriority tasks have executed at which point it will then
5999 !ăbecome active.
6000 !
6010 WAIT ON COUNTER_EVENT
6997 !
6998 !ăThe following statements perform the interrupt service
6999 !ăroutine.
7000 !
7010 INDEX% = I% + 1 \!ăSave this index value
7015 I% = I% + 1 \ IF I% > 3 THEN I% = 0 \!ăStep to next point
7020 LOW_COMP% = LIMIT_SWITCH%( I% ) \!ăSet up next value
7025 CNTR_EQ_RST@ = FALSE \!ăReset interrupt
7030 ON INDEX% GOSUB 8000, 8200, 8400, 8600 \ !Execute routine
7035 GOTO 6010
7997 !
7998 !ăInterrupt service routine for limit switch value (0).
7999 !
8000 INT_SERVICE0% = INT_SERVICE0% + 1
8190 RETURN
8197 !
8198 !ăInterrupt service routine for limit switch value (1).
8199 !
8200 INT_SERVICE1% = INT_SERVICE1% + 1
8390 RETURN
8397 !
8398 !ăInterrupt service routine for limit switch value (2).
8399 !
8400 INT_SERVICE2% = INT_SERVICE2% + 1
8590 RETURN
8597 !
8598 !ăInterrupt service routine for limit switch value (3).
8599 !
8600 INT_SERVICE3% = INT_SERVICE3% + 1
8790 RETURN
9000 DATA 1000 \!ăLimit switch position 0
9005 DATA 500 \!ăLimit switch position 1
9010 DATA 2500 \!ăLimit switch position 2
9020 DATA 3000 \!ăLimit switch position 3
32767 END