Bosch 6000 User's Guide download pdf (Page 138)

Chapter 3. Basic Operation Setup

123

Step 1

Initialize a Data Program.

DEL DATP1 ; Delete data program #1 (DATP1) in preparation for

; creating a new data program #1

DATSIZ1,1Ø ; Create data program #1 (named DATP1) with an allocation

; of 10 data elements. Each element is initialized to zero.

Step 2

Define the SETUP Subroutine. The SETUP subroutine need only run once.

DEF SETUP ; Begin definition of the subroutine called SETUP

JOYVH3,3 ; Set the high velocity speed to 3 units/sec

JOYVL.2,.2 ; Set the low velocity to 0.2 units/sec

JOYAXH1,2 ; When axes select input is set high, apply analog

; input 1 to axis 1

; and apply analog input 2 to axis 2

VAR1=Ø ; Set variable #1 equal to zero

VAR2=Ø ; Set variable #2 equal to zero

DRIVE11 ; Enable the drives for both axes

MA11 ; Enable the absolute positioning mode for both axes

END ; End definition of the subroutine called SETUP

Step 3

Define the TEACH Subroutine.

DEF TEACH ; Begin definition of the subroutine called TEACH

HOM11 ; Home both axes (absolute position counter is set to

; zero after the homing move)

DATPTR1,1,1 ; Select data program #1 (DATP1) as the current active

; data program, and move the data pointer to the first

; data element. After each DATTCH value is stored to

; DATP1, increment the data pointer by 1 data element.

REPEAT ; Set up a repeat/until loop

JOY11 ; Enable joystick mode on both axes. At this point,

; you can start moving the axes into position with the

; joystick. While using the joystick, command processing

; is stopped here until you activate the joystick

; release input. Activating the joystick release input

; disables the joystick mode and allows the subsequent

; commands to be executed (assign the current positions

; to the variables and then store the positions in the

; data program).

VAR1=1PM ; Set variable #1 equal to the position of motor 1

VAR2=2PM ; Set variable #2 equal to the position of motor 2

DATTCH1,2 ; Store variable #1 and variable #2 into consecutive

; data elements. (The first time through the repeat/until

; loop, variable #1 is stored into data element #1 and

; variable #2 is stored into data element #2. The data

; pointer is automatically incremented once after each

; data element and ends up pointing to the third data

; element in anticipation of the next DATTCH command.)

WAIT(INO.5=b1) ; Wait for the joystick release input to be de-activated

UNTIL(DPTR=1) ; Repeat the loop until the data pointer wraps around

; to data element #1 (data program full)

END ; End definition of the subroutine called TEACH

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Bosch 6000 User's Guide Page 138

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