Contents of action at step deactivation

! (*confirmation of axis channels 1 and 2*)

SET Axis_1.Control_enable; SET Axis_1.Control_acquire; SET Axis_1.Control_enable; SET Axis_1.Control_acquire;

Contents of action at step activation

! (*Initialization of values*)

RESET Axis_1.Control_enable; RESET Axis_1.Control_acquire; RESET Axis_1.Control_enable; RESET Axis_1.Control_acquire;

Contents of action at step activation

! (*channel 2 reference point*)

Axis_2.Action_cmd := 6034; (***Reference point***)

Axis_2.Param_cmd_1 := 0; (***Param 1***)

Axis_2.Param_cmd_2 := 0; (***Param 2***)

Axis_2.Param_cmd_3 := 1.0; (***1 => positive direction, -1 negative direction***)

Axis_2.Param_cmd_4 := %MF106; (***speed***)

WRITE_CMD(Axis_2);

! (*channel 1 reference point*)

Axis_1.Action_cmd := 6034; (***Reference point***)

Axis_1.Param_cmd_1 := 0; (***Param 1***)

Axis_1.Param_cmd_2 := 0; (***Param 2***)

Axis_1.Param_cmd_3 := 1.0; (***1 => positive direction, -1 => negative direction***)

Axis_1.Param_cmd_4 := %MF106; (***speed***)

WRITE_CMD(Axis_1);

Contents of action at step activation

! (*channel 2 absolute movement*)

Axis_2.Action_cmd := 513; (***Move Immed***)

Axis_2.Param_cmd_1 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_2.Param_cmd_2 := 0; (***Param_2***)

Axis_2.Param_cmd_3 := %MF50; (Direction / Cont 1.0, Position / abs***)

Axis_2.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_2);

! (*channel 1 absolute movement*)

Axis_1.Action_cmd := 513; (***Move Immed***)

Axis_1.Param_cmd_1 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_1.Param_cmd_2 := 0; (***Param_2***)

Axis_1.Param_cmd_3 := %MF52; (Direction / Cont 1.0, Position / abs***)

Axis_1.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_1);

Contents of action at step activation

! (*channel 1 absolute movement*)

Axis_1.Action_cmd := 513; (***Move Immed***)

Axis_1.Param_cmd_1 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_1.Param_cmd_2 := 0; (***Param_2***)

Axis_1.Param_cmd_3 := 0.0; (Direction / Cont 1.0, Position / abs***)

Axis_1.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_1);

! (*channel 2 absolute movement*)

Axis_2.Action_cmd := 513; (***Move Immed***)

Axis_2.Param_cmd_1 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_2.Param_cmd_2 := 0; (***Param_2***)

Axis_2.Param_cmd_3 := 1000.0; (Direction / Cont 1.0, Position / abs***)

Axis_2.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_2);

Contents of action at step activation

! (*close grab*)

SET %Q0.3.0;

Contents of action at step activation

! (*channel 1 absolute movement*)

Axis_1.Action_cmd := 513; (***Move Immed***)

Axis_1.Param_cmd_1 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_1.Param_cmd_2 := 0; (***Param_2***)

Axis_1.Param_cmd_3 := %MF54; (Direction / Cont 1.0, Position / abs***)

Axis_1.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_1);

! (*channel 2 absolute movement*)

Axis_2.Action_cmd := 513; (***Move Immed***)

Axis_2.Param_cmd_1 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_2.Param_cmd_2 := 0; (***Param_2***)

Axis_2.Param_cmd_3 := %MF56; (Direction / Cont 1.0, Position / abs***)

Axis_2.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_2);

Contents of action at step activation

(*open grab*)

RESET %Q0.3.0;

Contents of action at step activation

! (*channel 1 absolute movement*)

Axis_1.Action_cmd := 513; (***Move Immed***)

Axis_1.Param_cmd_1 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_1.Param_cmd_2 := 0; (***Param_2***)

Axis_1.Param_cmd_3 := %MF58; (Direction / Cont 1.0, Position / abs***)

Axis_1.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_1);

! (*channel 2 absolute movement*)

Axis_2.Action_cmd := 513; (***Move Immed***)

Axis_2.Param_cmd_1 := 0; (***Move type: -1 error, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_2.Param_cmd_2 := 0; (***Param_2***)

Axis_2.Param_cmd_3 := %MF60; (Direction / Cont 1.0, Position / abs***)

Axis_2.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_2);