Page History

...

• Signal state change to 0 (Mode Select)
• Mode Select Loop START (forever):
  • If Se=1, branch to Mode 1: One-Shot
  • If Se=2, branch to Mode 2: Flip-Flop
  • If Se=3, branch to Mode 3: Burst
  • If Se=4, branch to Mode 4: Fast Open
  • If Se=5, branch to Mode 5: Fast Close
  • Increment heartbeat
  • Hold for 100ms
• Mode Select Loop END

...

• Signal state change to 10 (One-Shot Init)
• Load One-Shot speeds (V1)
• Calculate target position using drift of current position (X9)
• Specify One-Shot ISR (J1) to run on Input Trip
• Arm Input Trip (TE=4)
• Signal state change to 11 (One-Shot Loop)
• One-Shot Loop START (forever):
  • Increment heartbeat
  • Hold for 100ms
  • If movement is complete (Sd=90)
    • Signal state change to 12 (One-Shot Complete)
• One-Shot Loop END

NOTE: Once in the one-shot loop, you must reset to get back to Mode Select.

One-Shot ISR (J1)

• Copy current position to shadow variables
• If currently in the positive closed position P1
  • Move (MA) to negative closed position P2

• • Calculate new drift based on stored shadow variables
  • Calculate new positive closed position P1 based on drift
• Else (any other position but P1)
  • Move (MA) to positive closed position P1

• • Calculate new drift based on stored shadow variables

• • Calculate new negative closed position P2 based on drift
• EndIf
• Hold until movement complete
• Signal state change to 90 (Toggle movement complete)
• Return

Mode 2: Flip-Flop

• Signal state change to 20 (Flip-Flop Init)
• Load Flip-Flop speeds (V2)
• Calculate target position using drift of current position (X9)
• Specify Flip-Flop ISR (J2) to run on Input Trip
• Arm Input Trip (TE=4)
• Signal state change to 21 (Flip-Flop Loop)
• Flip-Flop Loop START (forever):
  • Increment heartbeat
  • Hold for 100ms
  • If at least one movement is complete (Sd=90)
    • Signal state change to 22 (Flip-Flop Loop Active)
• Flip-Flop Loop END

NOTE: Once in the flip-flop loop, you must reset to get back to Mode Select.

Flip-Flop ISR (J2)

This ISR is identical to the One-Shot ISR (J1), with the exception that it re-arms the Input Trip (TE=4) every time it runs.