Page History

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• 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=TE|4)
• Signal state change to 11 (One-Shot Loop)
• One-Shot Loop START (forever):
  • Increment heartbeat
  • Hold for 100ms
  • If user sets the soft reset (Se=0)
    • Go back to mode select
  • EndIf
  • If movement is complete (Sd=90)
    • Signal state change to 12 (One-Shot Complete)
  • EndIf
• One-Shot Loop END

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• Copy current position to shadow variables
• If currently in the positive closed position P1 (Df=1)
  • Move (MA) to negative closed position P2
  • Calculate new drift based on stored shadow variables
  • Check drift at previous, negative closed position (call X9)
  • Hold until movement complete
  • Set Df=1, indicating current position is positive closed positionCalculate 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
• • Check drift at previous, positive closed position (call X8)
  • Hold until movement complete
  • Set Df=-1, indicating current position is negative closed position
• EndIf
• Copy current encoder count (C2) to shadow register CsHold until movement complete
• Signal state change to 90 (Toggle movement complete)
• Return

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