The internal device EANPOS is a tool that resides in the CPU that allows to manage the movement of a mechanical axis with a trapezoidal ramps with analog to trapezoidal or “S” ramp.
The main function of the device is to generate a trajectory or “speed profile” that, suitably converted into a proportional voltage signal, He commands a driving and then the axis attached to it, to bring it to the desired position.
The device also includes a feed-back process on the measurement taken from the transducer. This measure appropriately compared is used to generate the feedback.
The control voltage for operation is generated by a DAC hardware (Digital to Analogic Converter) present on the BUS QMOVE.
To sync the device with the actual axis position returned by, is there a special procedure for handling called “searching for presets”.
The feed-back is of PID+FF type (proportional, integral, derivative and feed-forward).

In the configuration file (.CNF), the BUS section must be declared so that you have the hardware resources required for the implementation of the EANPOS device. There must be at least a bi-directional counter and a 16-bit resolution analog output. The device can also be used with an input and an interrupt line for preset search functions.
In the INTDEVICE section of the .CNF file tmust be add the following definition:

;---------------------------------
; Internal device declaration
;---------------------------------
INTDEVICE
..
<device_name> EANPOS TCamp ICont IntL IAZero IoutA

where:

N.B. It is necessary that each definition are present on the same line. In case you do not want to assign a resource, for example IAZero, you must enter in the appropriate field the string X.X.

;---------------------------------
; Internal device declaration
;---------------------------------
INTDEVICE
Axis_X EANPOS 2 2.CNT02 3 3.INP01 3.AN01

The EANPOS device cquires the position of via bi-directional transmitter signals; these signals are used by an internal counter. This counter value does not express the position of the axis directly measured in the units that are required by your application. The device does not have within it the cntratio parameter, but let the installer can work with unfinished encoder resolutions by setting the data as space covered in a round encoder (measure) and number of pulses round of encoder (pulse). The relationship between the measure and pulse is the encoder resolution and must have values between 1 and 0.000935.

1) The parameter measure is placed in units without decimal points (for example 100.0 mm is inserted 1000 tenths of a millimeter).
2) The pulse parameter is put into bit encoder x 4 (for example if I connected a 1024 pulses round encoder, is inserted 4096, If the measure is calculated on a round encoder).

If for the selected unit of measure is also provided for the presence of a decimal point, the locations must be represented as an integer and represent space in units without decimal point. The resolution must be calculated with the same formula and measure represent the size without decimal point. The decimal point will then be inserted into the representation of the value-time viewers (example as properties in the terminal operator).

The speeds are always expressed in whole units of measure in the unit of choice time. From this it emerges that the device must know the location of the decimal point of the unit of measure and this is done with the decpt parameter. This parameter can take values 0÷3.
N.B. To activate this device send the INIT command.

You have to control a rotating table that have the accuracy of 0,1° having an encoder from 1024 pulse for rown directly; you will set the following values:
Axis:measure = 3600
Axis:pulse = 4096
Axis:decpt = 1

To execute the positioning at 4.6 degrees you need to enter:
Axis:setpos = 146

To set a speed of 10 degrees degrees per second, you must type:
Axis:unitvel = 1
Axis:setvel = 10

The name of parameter, state or command are shown to the left of the table.

R
Indicates if its parameter os state is retentive (upon initialization of the device maintains the previously defined), or the state assumes upon initialization of the device.
If the device does not need to initialize the field “R” indicates the value that the parameter or state take to the power up of the card.
R = Retentive
0 = Upon initialization of the device the value is forced to zero.
1 = Upon initialization of the device the value is forced to one.
- = Upon initialization of the device is presented significant value.

D
Indicates the size of the parameter.
F = Flag
B = Byte
W = Word
L = Long
S = Single Float

Describes all the conditions necessary so that the parameter is considered correct or because the command is accepted.
In some cases, limit values are specified for the acceptance of the parameter: if are introduced the value outside the limits set, the data is however accepted; therefore appropriate controls of the application must be provided to ensure the proper functioning.
To run a command, all conditions must be met; otherwise the command does not run.

A
Indicates the access mode.
R = Read.
W = Write.
RW = Read / Write.

At the START command, the axis is positioned to the declared quota in the setpos variable with speed set in setvel; the placement will run using the acceleration ramp set in tacc parameter and the deceleration ramp in tdec parameter. The type of used ramp (trapezoidal or epicicloidal) is inserted in the ramptype parameter.

If during placement is necessary to stop the axis with a deceleration ramp, it will simply give the command to STOP and the axis decelerates to a stop with the ramp sets in the tdec parameter.

This command puts the axis in emergency conditions; the st_emrg state is set to one. If the emergency command is sent to the axis during a placement, the movement is interrupted without deceleration ramp, the analog output will be set to zero volts and you dropped the reaction of space. With st_emrg = 1 (emergency condition), you cannot move the axis.

This command will reset the emergency condition; the axis comes in reaction to space and waits for a command to be able to move (does not automatically resume interrupted positioning).

The LOOPOFF command removes the reaction of space without stopping the axis. With st_loopon = 0 the axis handling axis commands accepted, but all placements will be performed without reaction of space.
A placement made reaction without loop is comparable to a positioning run without proportional gain (is not guaranteed to arrive in position).

The LOOPON command closes the space feedback without stopping the axis. With st_loopon = 1 the axis is moved using all the features of the P.I.D. control.
Following is a table summarizing the conditions necessary for the axis in reaction to space and to perform placements.

The epicicloidal motion (ramptype = 1) is used to move the axes without sudden variations in speed. The time of positioning of the axis with trapezoidal ramps is less than the same axis moved with the epicicloidal ramps, but the mechanical wear is considerably higher.
For comparison shows the difference of the time of acceleration in the two cases with constant maximum gradient acceleration.

The same goes for the deceleration ramp.
The epicicloidal movement has the ability to behave in different ways in the event of a reduction in profile (rtype) and in the case of stop during acceleration (stopt).

In the event that ramptype = 1. In case the space ahead is less than that which allows to reach the speed set by the acceleration and deceleration ramps, you pass in the phase called “reduction of profile”.
You can remain fixed the ramp time, decreasing gradients of the ramps and the speed in proportion (rtype parameter set to 0).

The profile reduction is used only if you are doing a placement.

You can also decrease the time of the ramps while maintaining the gradient of constant acceleration and decrease speed in proportion (rtype parameter set to 1).

With rtype parameter set to 0 extend considerably the time needed to placements with loss of productivity of the machine, instead of setting it to 1 in case of short placements, shorter times, but keeping the constant gradient you lose the beneficial effect of epicicloidal baseline.

In the event that ramptype = 1 and we should curb the axis during acceleration with the STOP command, You must choose whether to complete the ramp, or if you want to abort the ramp and consequently change the epicicloid.
In case you set the stopt parameter to 0 is first completed the acceleration ramp and then performed the deceleration ramp.

The type of stop during the rumps is only used if you are doing a placement.

In case you set the stopt parameter to 1 stops the acceleration ramp and started immediately the deceleration ramp set.

You immediately notice that there is a substantial difference between the setting of stopt to 0 or to 1. To make the choice of what type of stop use, It should be noted that in case of emergency exists the emergency command that instantly locks and without ramp positioning.

	Before starting the placements you must make sure that electrical connections and mechanical appliances do not cause malfunctions.

For axis management, the EANPOS device using an analog output with range ±10 V and resolution 16 bit with sign; with this calibration function with analog output can be driven with a constant value in order to test links and functionality.

• Remove the emergency condition with the RESUME command.
• The state st_emrg = 0
• Enable calibration axis status with the CALON command; the st_cal state must therefore be 1.
• You can now set the analog voltage vout parameter; the value is expressed in tenths of a volt (-100 ÷ 100 =
• 10 ÷ 10 V). It is recommended to introduce low values (5, 10, 15 … equal to 0.5, 1, 1,5 V).
• When the axis is in movement the frq parameter indicates the frequency in Hz of the transducer phases.
• The posit parameter that show the position, varies indicating the space taken by axis. If setting a positive voltage will count decrements, it is necessary to invert the phases of the transducer or reverse the direction in driving.
• You can reverse the direction of the count using the CNTREV command.
• If output voltage equal to zero the axis is not stationary, adjust the offset parameter to correct the tension until movement does not stop. The introduced value (each bit corresponds to approximately 0.3 mV), will be added algebraically to the value of the analogue output; This operation allows to compensate for any drift of electronic component, in out of QMOVE and in the input of the drive. The value is expressed in bits with sign.
  For an optimal result of calibration this operation must be performed with the system to temperature regime.
• To disable calibration status send the CALOFF command.
• The state st_cal = 0

The EANPOS device raises the voltage value of the analogue output on the basis of a ratio between the maximum speed of the axis and the maximum output voltage. Proportionality is obtained with the maxvel parameter, that represents the speed of the axis on the analog voltage (10 V). The axle must behave symmetrical behavior respect to zero value of analog output, therefore the speed must be the same on both the positive and negative voltage at maximum.
Before you determine the value of the maximum speed, we must establish the unit of time to use for the representation of the speed in the device; the unitvel parameter defines the unit of time of the speed (Um/min or Um/s).

The theoretical method is a calculation that was performed on the basis of the maximum speed of the motor. Once established the maximum revolutions per minute declared on the motor, we get the maximum speed.
Introduce in the maxvel parameter the value of maximum speed calculated.

The practical approach is based on the reading of the speed detected by the device in the vel variable, giving the drive a known voltage. To provide the voltage to drive the device should be placed in a position of calibration as described in the previous paragraph. If the system permits, supply the 10V voltage to the drive and read the speed value in the vel parameter. If, on the other hand, is an excerpt of the output voltage (1, 2, … 5 V), calculate the maximum speed with the proportion: vout : 10 [V] = vel : maxvel

Enter the maximum speed value found in maxvel parameter.

	Attention! Before to move the axis, check the correct function of emergency and protection devices.

The procedures described here have allowed us to complete the first phase of device parameterizing. Now you can run a simple movement of the axis.

• Move the axis in a position whereby it can fulfill a certain area without touching the maximum quota limit.
• Set the current position to zero axis in parameter posit = 0.
• Set up the parameters that define the position of the software limit switches: minpos = 0 and maxpos to the value of the maximum stroke of the axis.
• Set the parameter that defines the time that the axis to achieve maximum speed taccdec = 100. This parameter is expressed in hundredths of a second (100 = 1 sec.)
• Set the positioning speed with the setvel parameter.
• Set the target quota with the setpos parameter.
• Set the parameter feedforward = 1000 (100%)
• If the device is in emergency state (st_emrg = 1) give the RESUME command.
• Start positioning with the START command. To stop the movement give the EMRG command.

This first movement was done without speed feedback space. The placement may have been executed with some error introduced by the non-linearity of the components or by an imperfection in the calibration of the maximum speed. Subsequently enabling feedback space this error goes away.

The runs placement in the preceding paragraph has been made without considering any position errors. To check the correct position of the axis continuously and automatically, You must have a feed-back on the position; for this reason introduces the PID+FF control algorithm including proportional, integral, derivative actions and feed-forward; the value of the analog output is given by the summation of the feed-forward, proportional, integrative e derivative actions.
Without going into the merits of a technical description of the theory of regulation, in this section describes a series of actions to adjust the parameters that affect this control. In order to achieve a satisfactory adjustment is sufficient to use only the feedforward and proportional actions; integral and derivative actions are used only for adjustments under special conditions.

The feed-forward helps make the system more ready on placements, by providing the analog output voltage proportional to the theoretical speed of positioning. In practice it is the component which you performed the placements of the previous chapter.
The contribution of this action can be adjusted with the feedfw parameter; this parameter is expressed as a portion of millesimal theoretical speed; so, to introduce such as 98.5% you must set 985 (thousandths).

This action provides an proportional output to the instantaneous axis position error. The extent of the proportional action is defined by the pgain parameter that defines the sensitivity of the system.
The pgain parameter is introduced in thousandths; the unit value of the gain (1000) provides an analog output to maximum value (10 V) concerning the maximum speed error. For maximum speed error means the space taken by axis - at the maximum speed - for the duration of the sampling time of the device.

Integrates the position error of the system over time set in integt parameter updating the release until the error is not canceled.
The lower the integration time of the error, the faster the recovery system error, but the system can become unstable, tending to swing.

Anticipates the change of the motion of the system tends to eliminate the overshoot of the positioning. The entity of change is calculated over time set in derivt parameter.
More higher is the derivation time and more speed is the system in the transient error recovery, but if you enter a value that is too high the system becomes unstable, tending to fluctuate.

Searching for presets is a procedure to synchronize the count (posit parameter) with the actual position of the axis. Can be performed in 3 different ways according to the prsmode parameter.

• In order to perform a search preset is need a input (acquired through the BUS QMOVE) we define “enabling zero transducer”. In its path, the axis must turn this entry into a particular point.
• The preset search procedure is started with the PRESET command; at the initial stage the count acquired from QMOVE can have any value and can be located anywhere.
• The axis must direct towards the cam allows the upload of preset. Not knowing which way to direct the axis to meet the enable input, search for preset lets you choose with the prsdir parameter two solutions:
  prsdir = 0 the axis will always a forward movement
  prsdir = 1 the axis will always a back movement
• If during the preset search execution is give again the PRESET command, the direction of motion of the axis is reversed.
• It is to be noted that the presets quota contained in the prspos parameter must always be between the minimum and the maximum quota and that, after you load the preset quota, the axis is automatically positioned to the preset.
• During the preset search the software limits maxpos and minpos are not enable.
• When you set the search speed zero pulse - sprsvel - we must consider that in Mode 0 the input has a hardware filter that delays the acquisition and so influence the precision of the loading. In the 1 mode, the acquisition is execute on interrupt input so the speed is not determinative. We must ensure, however, that the time of zero impulse duration is sufficient to be acquired from the card. In order to know the acquisition time of the entrance and the minimum time of zero pulse signal refer to the technical documentation of the used cards.

Once you start search presets with the PRESET command, the axis towards the position where the zero pulse enable input transducer with speed defined by prsvel. The st_prson state you turn to report the current preset. When, in its rush, the active axis this input, reverses direction and starts with speed sprsvel.
At this point the behavior depends on the manner of loading selected (Mode 0 or Mode 1).

This procedure involves the movement of the axis and the use of the zero pulse enable input transducer.

To the deactivation of the zero-pulse enable trasducer input, the preset quota is loaded on the counting (parameter posit=prspos).
Next, you disable the st_prson status and active the st_prsok state to signal the end of search. This State remains active until the starting of a new presets procedure; when the system is powered this State is always zero. See picture 1.

Picture 1: preset loading using the only enabling cam.

This procedure involves the movement of axis and using the zero pulse inputs and enabling zero-pulse transducer.

To the deactivation of the zero-pulse enable transducer input, enables reading of the first zero-pulse provided by the transducer and, on this signal, it loads the preset quota in counting (parameter posit = prspos). To To allow the load of the preset quota with “Mode 1”, the card which is attached to the zero-pulse translator must transmit this signal on one of the 8 hardware interrupt lines. Moreover, the device must have been defined to use the same hardware interrupt line (See definition in the file .CNF).
Subsequently, the axis place at the preset quota, it disable the st_prson status and active the st_prsok state to signal the end of search; this State remains active until the start of a new process of presets. At the power on of the system st_prsok is always to zero. See picture 2.

Picture 2: loading preset using the enable cam and zero-pulse transducer.

This procedure does NOT provide for the handling of the axis and the use of the zero-pulse transducer enable input.

With this procedure, the preset search does not execute any positioning. The preset quota load command is supply is supply from the activation of the enable input zero encoder and the st_prsok state is set to one. If the input is a continuous load remains activated while, if at power up the input is already active, the first upload is executed only after its deactivation and activation.

In some applications you are prompted to place a large number of axes by moving a single axis at a time. The design choice falls on installing just one drive that depending on the axis to be placed electrically connects the motor interested in positioning; the transducer is always bound to its axis.
The EANPOS device allows you to control access to the DAC device using the REGON and REGOFF commands. In this way through the QCL application defines a set of device many axes to be placed; in the definition, all devices use the same DAC resource (IOutA).
Normally all devices must be in the st_regoff = 1 state so you will not have access to the DAC device. Before you start positioning, with the REGON command, the device is brought to the st_regoff = 0 state. Runs the placement and completion,the device is returned in the state of st_regoff = 1 with the REGOFF command. For no reason two devices simultaneously must be found in the st_regoff = 0 state. When the device is placed in the position of regoff, the analog output remains fixed at the last voltage value called before the REGOFF command.

In some applications you are prompted to define the target quota during placement, according to external events to the device. This means you can also write to the setpos parameter with placements occurring.

Changing the quota is accepted only if the new location is accessible by the management. When using the epicicloidal ramps the change quota is not accepted if st_dec = 1

When positioning you can also change the value of the posit count. This function is usually used when a device must, under special conditions, continue a speed profile for a very long time, that exceeds the time axis takes to reach the limit quota (maxpos or minpos).

When positioning it is possible to vary the speed of the axis without affecting the location to get to. This operation can lead an increase or a decrease of the speed, even more points with the same placement. This is accomplished with new writing in the setvel parameter. The speed change is always available except during the deceleration ramp indicated by the state (st_dec = 1)

During the placement can be varied even acceleration/deceleration times. For example, the device can start a placement with a long ramp, once you reach the target speed, has varied the tacc parameter and run a speed change with a more long ramp.
For special applications and trapezoidal ramps, ramp time can be varied even during a speed change, in this case the new time is put into execution immediately.

The changing to the value of resolution (cntratio) or the writing of the posit variable, causes the reset of the remnants of the conversion.

The device always shows the absolute position of the axis; for execute the incremental positioning you must have a tool to subtract or add some value to the count (posit) without introducing errors. The count change can also execute with a direct writing to the new value in the posit parameter.
Wanting to steal 100 units of measure from the count you can:
Axis:posit = Axis:posit - 100
This introduces an error because it imposes the location “posit = -100”, when the axis could have an intermediate position between a unit of measurement and subsequent (example 100.3). This fraction (0.3) is lost and the repetition of these steps will the accumulation of a considerable error.
The DELCNT command sum the count an amount equal to the parameter delta without losing the fraction part of the position:
Axis:delta = -100 DELCNT Axis
The DELCNT command may be sent only with stopped axis (st_still=1)

The reading the position of the axis is 2 units and it is located at point A. You want to add to the count posit three units.
With the instructions:
Axis:posit = Axis:posit + 2
the axis takes the new position B.
With the instructions:
Axis:delta = 2
DELCNT Axis
C position is reached.

Note that with the first instructions the axis took a delta less than 3 units and then introduced an error.
If you need to send DELCNT commands in succession, It is convenient to calculate the magnitude to be summed and send once the command; otherwise beware not to send subsequent commands without a read statement on device parameter.

Axis:delta = 3
DELCNT Axis
WAIT Axis:st_init
Axis:delta = 40
DELCNT Axis

The error presence in the device is reported by the st_error state.
When st_error is equal to 1, are present on the errcode variable the type of error occurred (see the table) and in the errvalue variable an indication on the cause of the error.
If the device goes in error, to resume the working you must delete the st_error state through the RSERR command.

The presence of a warning system camming is signaled by the st_warning state.
Being caused by a minor event and being guaranteed in this situation, the management of the axis, the axis continues his work.
When st_warning is equal to 1, are present on the wrncode variable the type of the warning intervened (see the table) and in the wrnvalue variable an indication on the cause that resulted warning.

To clear the st_warning status you must send the RSWRN command.

The name of parameter, state or command are shown at the left of the table.

R
Indicates if its parameter or state is retentive (upon initialization of the device maintains the previously defined), or the state assumes upon initialization of the device.
If the device does not need to initialize the “R” field indicates the value that the parameter or state take to the power up of the card.
R = Retentivce
0 = Upon initialization of the device the value is forced to zero.
1 = Upon initialization of the device the value is forced to one.
- = Upon initialization of the device is presented significant value.

D
Indicates the size of the parameter.
F = Flag
B = Byte
W = Word
L = Long
S = Single Float

Describes all the conditions necessary so that the parameter is considered correct or because the command is accepted.
In some cases, limit values are specified for the acceptance of the parameter: if are introduced any values outside the limits set, the data is however accepted; therefore must be provided the controls to ensure proper operation.
To run a command, all conditions must be met; otherwise the command does not execute.

A
Indicates the access mode.
R = Read.
W = Write.
RW = Read / Write.

The available commands to manage the device are listed below in descending order of priority. The device executes all commands received within the same sampling time starting from the one with the highest priority. For example if the device receives the same sampling time CNTUNLOCK and CNTLOCK commands, first run the CNTLOCK command and then to CNTUNLOCK leaving therefore the counter free to count.

No limitation.

;*************************************************************************************
; Module name:            Ex_Eanpos.CNF                Project:     Ex_EANPOS
; Autor:                  QEM srl                      Date:        01/05/99
; System:                 QMove1 / QCL3                Library:     1LIB4001
; Functionality:          EANPOS management example    Release: 0
;------------------------------------- Note ------------------------------------------
; [1] - Sample application using device EANPOS
  **************************************************************************************
;-------------------------------------------------------------------------------------
; Constant definitions
;-------------------------------------------------------------------------------------
CONST
;-------------------------------------------------------------------------------------
; Defining SYSTEM Variables
;-------------------------------------------------------------------------------------
SYSTEM
slQuotaPos L              ;Variable for placement quota
slVelAsse L               ;Variable for axis speed
 
;-------------------------------------------------------------------------------------;
; Defining GLOBAL Variables
;-------------------------------------------------------------------------------------
GLOBAL
gfMovMan F                ;Flag signalling ongoing
                          ;manual movements
gfMovAuto F               ;Flag signalling ongoing
                          ;automatic movements
;-------------------------------------------------------------------------------------
; Defining TIMER Variables
;-------------------------------------------------------------------------------------
TIMER
;-------------------------------------------------------------------------------------
; Defining DATAGROUP
;-------------------------------------------------------------------------------------
;DATAGROUP
 
;------------------------------------------------------------------------------------- ;
; Bus Configuration
;-------------------------------------------------------------------------------------
BUS
      1     1CPUD 01
      2     1MIXA 00
      3     .
      4     .
;-------------------------------------------------------------------------------------
; Defining INPUT Variables
;-------------------------------------------------------------------------------------
INPUT
ifAvMan     F     2.INP01    ;Forward manual input
ifInMan     F     2.INP02    ;Backward manual input
ifStart     F     2.INP03    ;START axis input
ifStop      F     2.INP04    ;STOP axis input
;-------------------------------------------------------------------------------------
; Defining OUTPUT Variables
;-------------------------------------------------------------------------------------
OUTPUT
ofToll      F     2.OUT01    ;Output of axis in tolerance
ofAxeFermo  F     2.OUT02    ;Output of axis stopped
;-------------------------------------------------------------------------------------
; Internal Device declaration
;-------------------------------------------------------------------------------------
INTDEVICE
;Name      Tipo   TCamp      Counter      Inter      AbilZero     OutAnal
Axis       EANPOS 0004       2.CNT01        1          2.INP01      2.AN01
 
END

;*************************************************************************************
;    File Name  : TASK_00.MOD
;    Project    : EX_EANPOS
;    Description: Positioning Control
;*************************************************************************************
 
;-------------------------------------------------------------------------------------
; Initialization work Axis
;-------------------------------------------------------------------------------------
Axis:measure = 10000                     ;Space in 1 around encoder(Um)
Axis:pulse = 40000                       ;pulses/Rev encoder
Axis:maxvel = 100000                     ;Maximum speed = Axis speed with
                                         ;analog output to 10V (CALON/vout=100)
Axis:maxpos = 999999                     ;Maximum quota
Axis:minpos = -999999                    ;Minimum quota
Axis:maxfollerr = 10000                  ;Following error
Axis:unitvel = 0                         ;Unit time speed
Axis:decpt = 0                           ;Decimal digits
Axis:rampmode = 0                        ;Type of ramps used
Axis:taccdec = 100                       ;Acceleration and deceleration time
Axis:tacc = 0                            ;Acceleration time (not used)
Axis:tdec = 0                            ;Deceleration time (not used)
Axis:tinv = 0                            ;Inversion time axis
Axis:toll = 5                            ;Tolerance
Axis:toldly = 10                         ;Delay activation time tolerance
Axis:prsmode = 0                         ;Preset search type
Axis:prspos = 0                          ;Preset quota
Axis:prsdir = 0                          ;Preset search direction
Axis:prsvel = (20 * Axis:maxvel)/100     ;Preset speed (20% of the maximum speed)
Axis:sprsvel = (10 * Axis:maxvel)/100    ;Zero pulse search speed
                                         ;(10% of the maximum speed)
Axis:offset = 0                          ;Offset voltage
Axis:pgain = 10                          ;Proportional gain
Axis:feedfw = 1000                       ;Feedforward
Axis:integt = 0                          ;Integral time
Axis:derivt = 0                          ;Derivative time
INIT Axis                                ;Initializes the device
WAIT Axis:st_init                        ;Wait until the device is initialized
CNTUNLOCK Axis                           ;Unlock count
WAIT NOT Axis:st_cntlock                 ;Wait until the count is unlocked
CNTDIR Axis                              ;Sets the direction of the count
WAIT NOT Axis:st_cntrev                  ;Wait until it is set the direction
                                         ;of the count
REGON Axis                               ;Enable the setting
WAIT NOT Axis:st_regoff                  ;Wait the enable for the RESUME axis adjustment
                                         ;Remove the axis from the State of emergency
WAIT NOT Axis:st_emrg                    ;Wait until the axis is not in emergency
LOOPON Axis                              ;Hook the loop of axis reaction
WAIT Axis:st_loopon                      ;Wait until it is hooked on the
                                         ;the reaction axis loop
IF (slVelAxis EQ 0)                      ;In case the set of speed
                                         ;the axle is zero
slVelAxis = 50                           ;Sets a positioning speed
ENDIF
IF (slQuotaPos EQ 0)                     ;In the case that the axis quota
                                         ;of placement is zero
slQuotaPos = 2000                        ;Sets a quota of positioning
ENDIF
 
;-------------------------------------------------------------------------------------
;     Positioning tasks
;-------------------------------------------------------------------------------------
;     ------------------------------- variables used ---------------------------------
;     slVelAxis: Adjustable variable that represents the axis speed
; (expressed in % of the maximum speed)
;     slQuotaPos: Adjustable variable that represents the quota of axis positioning
; ---------------------------------- flag used ---------------------------------------
;     gfMovMan: manual operation in progress
;     gfMovAuto: automatic operation in progress
;-------------------------------------------------------------------------------------
MAIN:
;-------------------------------------------------------------------------------------
;     Outputs managing
;-------------------------------------------------------------------------------------
ofToll = Axis:st_toll                         ;Forced out of tolerance as
                                              ;the tolerance state
ofAxeStopped = Axis:st_still                  ;Set the stopped axis as
                                              ;the stopped axis state
 
;-------------------------------------------------------------------------------------
;     Automatic movements managing
;-------------------------------------------------------------------------------------
IF ifStart                                  ;Waits for the START input
  IF NOT gfMovMan                             ;Check that there are no manual movements
    IF Axis:st_still                            ;Check that the axis is stopped
      Axis:setvel=(slVelAxis*Axis:maxvel)/100     ;Sets the speed of the axis
      Axis:setpos = slQuotaPos                    ;Sets the placement quota
      START Axis                                  ;Run the start of axis
      gfMovAuto = 1                               ;Automatic movement in progress reports
    ENDIF
  ENDIF
ENDIF
IF ifStop                                   ;Waits for the STOP input
  IF NOT Axis:st_still                        ;Check that the axle is not stopped
    STOP Axis                                   ;Run the stop of the axis
  ENDIF
ENDIF
IF gfMovAuto                                ;Check reporting movement
  ;automatico in corso
  IF Axis:st_still                            ;Check that the axis is stopped
    gfMovAuto = 0                               ;Reset the automatic movement state
  ENDIF
ENDIF
 
;-------------------------------------------------------------------------------------
;    Manual movements managing
;-------------------------------------------------------------------------------------
IF ifAvMan                                            ;Awaiting the entry of manual operation
   IF NOT (gfMovAuto OR gfMovMan)                     ;Check that there are no movements
                                                      ;automatics or manuals
      IF Axis:st_still                                ;Check that the axis is stopped
            Axis:setvel=(slVelAxis*Axis:maxvel)/100   ;Sets the speed of the axis
                       MANFW Axis                     ;Forward axis in manual
                       gfMovMan = 1                   ;Manual movement in progress reports
      ENDIF
   ENDIF
ENDIF
 
IF ifInMan                                            ;Awaiting the manual operation input
   IF NOT (gfMovAuto OR gfMovMan)                     ;Check that there are no movements
                                                      ;automatics or manuals
      IF Axis:st_still                                ;Check that the axis is stopped
            Axis:setvel=(slVelAxis*Axis:maxvel)/100   ;Sets the speed of the axis
                       MANBW Axis                     ;Forward axis in manual
                       gfMovMan = 1                   ;Manual movement in progress reports
      ENDIF
   ENDIF
ENDIF
 
IF gfMovMan                                           ;If the axis moves in manual
   IF NOT (ifAvMan OR ifInMan)                        ;If the forward and backward inputs
                                                      ;manual is to OFF
      STOP Axis                                       ;Stop the axis
      gfMovMan = 0                                    ;Remove the reporting of axis
                                                      ;manual movement
   ENDIF
ENDIF
 
;-------------------------------------------------------------------------------------
;    Final operations
;-------------------------------------------------------------------------------------
  WAIT 1
  JUMP MAIN
END