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NOTE: Once in the flip-flop loop, you must set Se=0 to get back to Mode Select.

Flip-Flop ISR

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1 (P1 to P2 move) (LB J5)

• Move to negative closed position P2
• If error checking is enabled (Ec=1)
  • Calculate drift at previous position P1: Dr=N1-Cs
  • If drift is at or beyond limit (Dr>=Dl)
    • Increment the lower drift violation counter Ld
  • EndIf
• EndIf
• Set Flip-Flop ISR 2 (J6) to run on next Input Trip
• Hold until movement is complete
• Copy current encoder count (C2) to shadow register Cs
• Set Df=-1 to signal at negative closed position
• Re-arm Input Trip (TE=4)
• Return

Flip-Flop ISR 2 (P2 to P1 move) (LB J6)

• Move to positive closed position P1
• If error checking is enabled (Ec=1)
  • Calculate drift at previous position P2: Dr=Cs-N2
  • If drift is at or beyond limit (Dr>=Dl)
    • Increment the upper drift violation counter Ud
  • EndIf
• EndIf
• Set Flip-Flop ISR 1 (J5) to run on next Input Trip
• Hold until movement is complete
• Copy current encoder count (C2) to shadow register Cs
• Set Df=1 to signal at positive closed position
• Re-arm Input Trip (TE=4)
• Return

Mode 3: Burst

• Signal state change to 30 (Burst Mode Init)
• Load Burst speeds (V3)
• 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 user sets the soft reset (Se=0)
    • Branch to Fast Close (Mode 5)
  • EndIf
• Burst Loop END

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