The sole purpose of this sample program is to illustrate
; the operation of setting up the 6k to get 1 revolution
; of motion for a servo and stepper axis.
; It is the responsibility of the user to
; insure the program is not misused
;
; This program assumes that HARD LIMITS ARE NOT BEING USED.
; This program assumes that tuning for the servo axis has been done,
; If not use the default values for SGP,SGV, SGI AND SGILIM
SCLD4000,25000 | ;set the distance to 1 rev for axis 1&2 |
SCLV4000,25000 | ;set the velocity to 1 rev/sec for axis 1&2 |
SCLA4000,25000 | ;set the acceleration to 1 rev/sec^2 for axis 1&2 |
SCALE1 | ;enable scaling |
DEL MOTION | ;delete motion program |
DEF MOTION | ;define motion program |
DRIVE00 | ;disable axis 1&2 |
AXSDEF10 | ;define axis 1 as servo axis and axis 2 as a stepper axis |
DRES,25000 | ;set the drive resolution of axis 2 to be 25000 steps/rev |
ERES4000 | ;set the encoder resolution of axis 1 to be 4000 counts/rev |
LH0,0 | ;disable hardware limits for axis 1&2 |
COMEXS1 | ;save command buffer on stop |
COMEXC0 | ;disable continuous execution mode |
MC00 | ;disable mode continuous |
MA00 | ;set axis 1&2 to incremental distance mode |
A10,10 | ;set the acceleration on axis 1&2 to be 10 rev/sec^2 |
V1,1 | ;set the velocity on axis 1&2 to be 1 rev/sec |
D1,1 | ;set the distance on axis 1&2 to be 1 rev |
DRIVE11 | ;enable drives on axis 1&2 |
GO11 | ;initiate motion on axis 1&2 |
END |
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