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rem Using quadrature-X decoder
rem This program makes the X-motor to move
back and forth
rem Commands demonstrated; velx, accx, posx, movax, rem, wait, goto, rquadx
rem The X-motor quadrature encoder should be connected to the quadrature encoder
of
rem input of the controller. Please consult the Hardware Reference Manual.
rem Set the velocity
velx 2000
rem Set the acceleration
accx 20000
rem Set quadrature decoder to 0
squadx 0
200
rem Set the position to move to
posx 5000
rem Start the absolute move
movax
rem Wait until the move is completed
donex?
rem Wait for 250 msec
wait 250
rem Read quadrature decoder-X
rquadx A
print "Quad-X = ", A
rem Set the position to move to
posx 0
rem Start the absolute move
movax
rem Wait until the move is completed
donex?
rem Wait for 250 msec
wait 250
rem Read quadrature decoder-X
rquadx A
print "Quad-X = ", A
rem Start all over again
goto 200
end
$
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