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Old Version 5

changes.mady.by.user Gumerlock, Karl L.

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New Version 6

changes.mady.by.user Gumerlock, Karl L.

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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 movement is complete (Sd=90)
      • Signal state change to 12 (One-Shot Complete)
    • EndIf
  • One-Shot Loop END

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

...

  • 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=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)
    • EndIf
  • Flip-Flop Loop END

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

...

  • Signal state change to 30 (Burst Mode Init)
  • Load Burst speeds (V3)
  • Calculate target position using drift of current position (X9)
  • Specify Burst Open ISR (J3) to run on Input Trip
  • Arm Input Trip (TE=TE|4)
  • Signal state change to 31 (Burst Loop)
  • Burst Loop START (forever):
    • Increment heartbeat
    • Hold for 100ms
    • If the close movement is complete (Sd=92), then
      • Signal state change to 32 39 (Burst complete)
    • EndIf
  • Burst Loop END

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

Burst Open ISR (J3)

  • Signal state change to 32 (Burst open signal received)
  • Store current position in shadow variables
  • Move (MA) to open position (P0)
  • Calculate drift based on shadow variables
  • Use new drift to update closed positions P1 and P2
  • Hold until movement complete
  • Signal state change to 94 (Move to open position complete)
  • Specify Burst Close ISR (J4) to run on Input Trip
  • Re-arm input trip (TE=TE|4)
  • Return

Burst Close ISR (J4)

  • Signal state change to 33 (Burst close signal received)
  • Store current position in shadow variables
  • Move (MA) to positive closed position (P1)
  • Calculate drift based on shadow variables
  • Use new drift to update open position P0 and closed position P2
  • Hold until movement complete
  • Signal state change to 91 (Move to positive closed position complete)
  • Return

Mode 4: Fast Open

  • Signal state change to 40 (Fast Open Init)
  • Load fast open speeds
  • Calculate target position using drift of current position (X9)
  • Move (MA) to the open position (P0)
  • Hold until movement complete
  • Signal state change to 41 (Fast open complete)
  • Goto mode select

Mode 5: Fast Close

  • Signal state change to 50 (Fast close init)
  • Load fast close speeds
  • Calculate target position using drift of current position (X9)
  • If neither at position P1 (positive closed) nor at position P2 (negative closed), then
    • Move (MA) to the positive closed position (P1)
    • Hold until movement complete
  • EndIf
  • Signal state change to 51 (Fast close complete)
  • Goto mode select