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rem Using quadrature-2 decoder
rem This program makes the Y-motor to move back and forth
rem Commands demonstrated; vely, accy, posy, movay, rem, wait, goto, rquad2
rem The Y-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
vely 2000
rem Set the acceleration
accy 20000
rem Set quadrature decoder to 0
squad2 0
200
rem Set the position to move to
posy 5000
rem Start the absolute move
movay
rem Wait until the move is completed
doney?
rem Wait for 250 msec
wait 250
rem Read quadrature decoder-2
rquad2 A
print "Quad-2 = ", A
rem Set the position to move to
posy 0
rem Start the absolute move
movay
rem Wait until the move is completed
doney?
rem Wait for 250 msec
wait 250
rem Read quadrature decoder-2
rquad2 A
print "Quad-2 = ", A
rem Start all over again
goto 200
end
$
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