- GOTO SCREEN begin
*>SCREEN begin
- HOT KEY (10) "" INTERRUPT: GOSUB LABEL helpsys
- GOTO SCREEN startup
*>SCREEN startup
- PUT TEXT AT (1,5): "Choose the type of motor-driver attached"
- PUT TEXT AT (1,6): "to your Model 1100 (press the associated"
- PUT TEXT AT (1,7): "soft key)."
- PUT LARGE TEXT AT (2,1): "PARKER COMPUMOTOR"
- PUT LARGE TEXT AT (4,2): "DEMO PROGRAM"
- SOFTKEY (3) " AX" GOTO SCREEN testax
- SOFTKEY (4) " SX" GOTO SCREEN testsx
- SOFTKEY WAIT
- LABEL initunit
- COMMENT "Initialize units for DRIVE"
  pitch=5
  dd&=onerev
  dscale=1
  d$="STEPS"
  vd%=10
  vscale=1
  v$="REVS/SECOND"
  ascale=1
  ad%=100
  a$="REVS/SEC^2"
- RETURN
- TITLE:::::::::: "INITIALIZE AX" ::::::::::::
*>SCREEN testax
- PUT TEXT AT (2,1): "ATTEMPTING TO ESTABLISH COMMUNICATION"
- PUT TEXT AT (8,2): "WITH THE AX MOTOR/DRIVE."
- PUT LARGE TEXT AT (2,3): "PLEASE STAND BY..."
  onerev=12800
  drtype=0
- GOSUB LABEL initunit
- COM: INIT COM 1 ECHO 1 BAUD 96 HANDSHAKE 0 TIMEOUT 250 STRIP 1
- DELAY 750
  n = 1
- LABEL comtest
- COM: PUT COM 1 TEXT "1E 1K 1MN 1R"
- COM: GET COM 1 TEXT stat$
  if stat$ = "*R" or stat$ = "*S" then goto runax
  if n = 11 then goto canttalk
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
- PUT LARGE TEXT AT (1,1): "DRIVE NOT RESPONDING"
- PUT TEXT AT (4,4): "RETRYING CHECK-OUT TEN MORE TIMES"
- PUT TEXT AT (14,6): "ATTEMPT #"
- PUT NUMBER n AT (24,6) USING "##"
  n = n+1
- GOTO LABEL comtest
- LABEL canttalk
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
- PUT TEXT AT (3,1): "CANNOT ESTABLISH COMMUNICATIONS WITH"
- PUT TEXT AT (15,2): "MOTOR/DRIVE"
- PUT TEXT AT (8,5): "RETURNING TO BASIC..."
- DELAY 1000
- GOTO SCREEN exit
- LABEL runax
- COM: INIT COM 1 ECHO 1 BAUD 96 HANDSHAKE 0 TIMEOUT 1000 STRIP 1
- COM: PUT COM 1 TEXT "1MN 1LD3 1A100 1V10 1D12800"
- CLEAR GRAPHICS SCREEN
- GOTO SCREEN main
- TITLE:::::::::: "INITIALIZE SX" ::::::::::::
*>SCREEN testsx
- PUT TEXT AT (2,1): "ATTEMPTING TO ESTABLISH COMMUNICATION"
- PUT TEXT AT (8,2): "WITH THE SX MOTOR/DRIVE."
- PUT LARGE TEXT AT (2,3): "PLEASE STAND BY..."
  onerev=25000
  drtype=1
- GOSUB LABEL initunit
- COM: INIT COM 1 ECHO 1 BAUD 96 HANDSHAKE 0 TIMEOUT 250 STRIP 1
- DELAY 750
  n = 1
- LABEL comtests
- COM: PUT COM 1 TEXT "1E 1K 1MN 1R"
- COM: GET COM 1 TEXT stat$
  if stat$ = "*R" or stat$ = "*S" then goto runsx
  if n = 11 then goto notalksx
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
- PUT LARGE TEXT AT (1,1): "DRIVE NOT RESPONDING"
- PUT TEXT AT (4,4): "RETRYING CHECK-OUT TEN MORE TIMES"
- PUT TEXT AT (14,6): "ATTEMPT #"
- PUT NUMBER n AT (24,6) USING "##"
  n = n+1
- GOTO LABEL comtests
- LABEL notalksx
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
- PUT TEXT AT (3,1): "CANNOT ESTABLISH COMMUNICATIONS WITH"
- PUT TEXT AT (15,2): "MOTOR/DRIVE"
- PUT TEXT AT (8,5): "RETURNING TO BASIC..."
- DELAY 1000
- GOTO SCREEN exit
- LABEL runsx
- COM: INIT COM 1 ECHO 1 BAUD 96 HANDSHAKE 0 TIMEOUT 1000 STRIP 1
- COM: PUT COM 1 TEXT "1SSI1 1LD3 1A100 1V10 1D25000"
- CLEAR GRAPHICS SCREEN
- GOTO SCREEN main
- TITLE:::::::::: ":::::::::::::" ::::::::::::
- TITLE:::::::::: "MAIN RUN LOOP" ::::::::::::
- TITLE:::::::::: ":::::::::::::" ::::::::::::
*>SCREEN main
- PUT TEXT AT (12,6): "Press F9 to EXIT."
- PUT LARGE TEXT AT (1,1): " SELECT A FUNCTION: "
- SOFTKEY (1) "A-V-D" GOTO SCREEN avdset
- SOFTKEY (2) "UNITS" GOTO SCREEN units
- SOFTKEY (3) "STAT" GOTO SCREEN status
- SOFTKEY (4) "SEQ 1" GOTO SCREEN sequence
- SOFTKEY (5) "MOVE" GOTO SCREEN start
- SOFTKEY (6) "STOP" GOTO SCREEN kill
- SOFTKEY (9) "EXIT" GOTO SCREEN exit
- SOFTKEY WAIT
- TITLE:::::::::: "SET ACCELERATION, VELOCITY, DISTANCE, AND PITCH" ::::::::::::
*>SCREEN QUICK avdset
- CLEAR SCREEN
- PUT TEXT AT (11,6): "Select a Function:"
- PUT LARGE TEXT AT (1,1): "MOTION PARAMETERS:  "
- SOFTKEY (1) "ACCEL" GOTO SCREEN accelset
- SOFTKEY (2) " VEL" GOTO SCREEN velset
- SOFTKEY (3) "DIST" GOTO SCREEN distset
- SOFTKEY (4) "PITCH" GOTO SCREEN pitchset
- SOFTKEY (6) "EXIT" GOTO SCREEN main
- SOFTKEY WAIT
- TITLE:::::::::: "SET UP ACCELERATION" ::::::::::::
*>SCREEN accelset
- PUT TEXT AT (1,2): "ACCELERATION IN"
- PUT TEXT AT (1,4): "ENTER ACCELERATION:"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
  pos 17,2 : print a$;":"
  ad% = ad% / ascale
- GET NUMBER ad% AT (21,4) USING "###.##" DEFAULT ad%
  ad% = ad% * ascale
  acc$="1A"+str$(ad%)
- COM: PUT COM 1 TEXT acc$
- GOTO SCREEN avdset
- TITLE:::::::::: "SET UP VELOCITY" ::::::::::::
*>SCREEN velset
- PUT TEXT AT (1,2): "VELOCITY IN"
- PUT TEXT AT (1,4): "ENTER VELOCITY:"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
  pos 17,2 : print v$;":"
  vd% = vd% / vscale
- GET NUMBER vd% AT (21,4) USING "###.##" DEFAULT vd%
  vd% = vd% * vscale
  vel$="1V"+str$(vd%)
- COM: PUT COM 1 TEXT vel$
- GOTO SCREEN avdset
- TITLE:::::::::: "SET UP DISTANCE" ::::::::::::
*>SCREEN distset
- PUT TEXT AT (1,2): "DISTANCE IN"
- PUT TEXT AT (1,4): "ENTER DISTANCE:"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
  pos 17,2 : print d$;":"
  td = dd& / dscale
- GET NUMBER td AT (18,4) USING "-#########.##" DEFAULT td
  dd& = td * dscale
  dist$="1D"+str$(dd&)
- COM: PUT COM 1 TEXT dist$
- GOTO SCREEN avdset
- TITLE:::::::::: "SET UP SCREW PITCH" ::::::::::::
*>SCREEN pitchset
- PUT TEXT AT (1,4): "ENTER SCREW PITCH:"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
- GET NUMBER pitch AT (20,4) USING "##.###" DEFAULT pitch
- GOTO SCREEN units
- TITLE:::::::::: "SET DISPLAY / ENTRY UNITS" ::::::::::::
*>SCREEN units
- PUT TEXT AT (2,4): "LINEAR MEASURE ASSUMES A         PITCH"
- PUT TEXT AT (2,5): "LEAD SCREW ON A LINEAR TRANSLATION"
- PUT TEXT AT (2,6): "DEVICE."
- PUT LARGE TEXT AT (1,1): "SELECT MOTION UNITS-"
- PUT NUMBER pitch AT (27,4) USING "##.###"
- SOFTKEY (1) "STEPS" GOTO SCREEN steps
- SOFTKEY (2) "MILS" GOTO SCREEN mils
- SOFTKEY (3) "INCH" GOTO SCREEN inch
- SOFTKEY (4) " MM" GOTO SCREEN mms
- SOFTKEY (5) " UM" GOTO SCREEN ums
- SOFTKEY (6) "EXIT" GOTO SCREEN main
- SOFTKEY WAIT
- TITLE:::::::::: "SCALE UNITS IN STEPS" ::::::::::::
*>SCREEN steps
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (10,2): "IN"
- PUT HUGE TEXT AT (4,2): "STEPS"
  dscale = 1
  d$ = "STEPS"
  vscale = 1
  v$ = "REVS/SECOND"
  ascale = 1
  a$ = "REVS/SEC^2"
- DELAY 1000
- GOTO SCREEN units
- TITLE:::::::::: "SCALE UNITS IN MILS" ::::::::::::
*>SCREEN mils
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (10,2): "IN"
- PUT HUGE TEXT AT (4,2): "MILS"
  dscale = onerev*pitch/1000
  d$ = "MILS"
  vscale = pitch
  v$ = "INCHES/SECOND"
  ascale = pitch
  a$ = "INCHES/SEC^2"
- DELAY 1000
- GOTO SCREEN units
- TITLE:::::::::: "SCALE UNITS IN INCHES" ::::::::::::
*>SCREEN inch
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (10,2): "IN"
- PUT HUGE TEXT AT (3,2): "INCHES"
  dscale = onerev*pitch
  d$ = "INCHES"
  vscale = pitch
  v$ = "INCHES/SECOND"
  ascale = pitch
  a$ = "INCHES/SEC^2"
- DELAY 1000
- GOTO SCREEN units
- TITLE:::::::::: "SCALE UNITS IN MILLIMETERS" ::::::::::::
*>SCREEN mms
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (10,2): "IN"
- PUT HUGE TEXT AT (1,2): "MILLIMETER"
  dscale = onerev*pitch/25.4
  d$ = "MM"
  vscale = 25.4*pitch
  v$ = "MM/SECOND"
  ascale = 25.4*pitch
  a$ = "MM/SEC^2"
- DELAY 1000
- GOTO SCREEN units
- TITLE:::::::::: "SCALE UNITS IN MICRONS" ::::::::::::
*>SCREEN ums
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (10,2): "IN"
- PUT HUGE TEXT AT (2,2): "MICRONS"
  dscale = onerev*pitch/25400
  d$ = "MICRONS"
  vscale = 25400*pitch
  v$ = "MICRONS/SECOND"
  ascale = 25400*pitch
  a$ = "MICRONS/SEC^2"
- DELAY 1000
- GOTO SCREEN units
- TITLE:::::::::: "READ DEVICE STATUS AND POSITION" ::::::::::::
*>SCREEN status
- PUT LARGE TEXT AT (1,1): "POSITION:"
- PUT LARGE TEXT AT (1,3): "STATUS:"
- PUT LARGE TEXT AT (14,2): d$
- SOFTKEY (1) "ZERO" GOTO SCREEN zeroscr
- SOFTKEY (2) "MOVE" GOTO SCREEN starts
- SOFTKEY (6) "EXIT" GOTO SCREEN main
- LABEL statloop
  print#1,"1R":line input#1,e$:line input#1,stat$
  print#1,"1PR":line input#1,e$
- LABEL stat1
  line input#1,ps$
  if ps$="" then goto stat1
  if drtype=1 then ps$=right$(ps$,11)
  px& = val(ps$)
  px& = px&/dscale
  p = val(ps$)
  p = p/dscale
  if flag = 1 then goto statdisp
  if dscale <> 1 then goto pscale
- PUT LARGE NUMBER px& AT (1,2) USING "-###########"
- GOTO LABEL statdisp
- LABEL pscale
- PUT LARGE NUMBER p AT (1,2) USING "-#######.###"
- LABEL statdisp
- PUT LARGE TEXT AT (9,3): stat$
- SOFTKEY CHECK
- GOTO LABEL statloop
- LABEL zeroscr
- COM: PUT COM 1 TEXT "1PZ"
- GOTO LABEL statloop
- LABEL starts
- COM: PUT COM 1 TEXT "1G"
- GOTO LABEL statloop
- TITLE:::::::::: "DOWNLOAD AND RUN A SEQUENCE" ::::::::::::
*>SCREEN QUICK sequence
- CLEAR SCREEN
- PUT TEXT AT (3,3): "A SEQUENCE TO THE MOTION CONTROLLER"
- PUT LARGE TEXT AT (1,1): "  TRANSMITTING...   "
  seq$ = "1A100 1V10 1D12800 1G"
  i=1
- LABEL seq1
- COM: PUT COM 1 TEXT "1R"
- COM: GET COM 1 TEXT stat$
  if i=2 then goto seqerr
  i=i+1
  if stat$ <> "*R" and stat$ <> "*S" then goto seq1
- COM: PUT COM 1 TEXT "1XE1 1XD1"
- COM: PUT COM 1 TEXT seq$
- COM: PUT COM 1 TEXT "XT"
- DELAY 250
  if drtype = 1 then goto sxseq
- TITLE:::::::::: "AX SEQUENCE OPERATION" ::::::::::::
- COM: PUT COM 1 TEXT "1XSD"
- COM: GET COM 1 TEXT stat$
  if stat$ <> "0" then goto seqerr
- PUT TEXT AT (2,4): "SYNTAX IS:"
- PUT TEXT AT (13,4): seq$
- PUT TEXT AT (3,6): "RUNNING SEQUENCE TEN TIMES:"
  ?""
  for n = 1 to 10
  ?n;
- COM: PUT COM 1 TEXT "1XR1"
- LABEL doneseq
- COM: PUT COM 1 TEXT "1XSR1"
- COM: GET COM 1 TEXT stat$
  if stat$ <> "0" then delay 50:goto doneseq
  next
- GOTO SCREEN main
- TITLE:::::::::: "SX SEQUENCE OPERATION" ::::::::::::
- LABEL sxseq
  n=1
- LABEL sxseq1
- COM: PUT COM 1 TEXT "1R"
- COM: GET COM 1 TEXT stat$
  delay 10
  if n=10 then goto seqerr
  n=n+1
  if stat$ <> "*R" then goto sxseq1
- PUT TEXT AT (2,4): "SYNTAX IS:"
- PUT TEXT AT (13,4): seq$
- PUT TEXT AT (3,6): "RUNNING SEQUENCE TEN TIMES:"
  ?""
  for n = 1 to 10
  ?n;
- COM: PUT COM 1 TEXT "1XR1"
- LABEL donesxq
- COM: PUT COM 1 TEXT "1R"
- COM: GET COM 1 TEXT stat$
  if stat$ <> "*R" then delay 50:goto donesxq
  next
- GOTO SCREEN main
- TITLE:::::::::: "SEQUENCE ERROR" ::::::::::::
- LABEL seqerr
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
- KEY OFF
- PUT LARGE TEXT AT (1,1): "CAN'T SEND SEQUENCE"
- PUT TEXT AT (2,5): "RETURNING TO MOTION SELECTION MENU...."
- DELAY 1500
- CLEAR GRAPHICS SCREEN
- GOTO SCREEN main
- TITLE:::::::::: "START MOTION" ::::::::::::
*>SCREEN QUICK start
- CLEAR SCREEN
- PUT LARGE TEXT AT (1,1): " MOTION HAS BEGUN   "
- COM: PUT COM 1 TEXT "1G"
- DELAY 250
- GOTO SCREEN main
- TITLE:::::::::: "KILL MOTION" ::::::::::::
*>SCREEN QUICK kill
- CLEAR SCREEN
- PUT LARGE TEXT AT (1,1): "  STOPPING MOTION   "
- COM: PUT COM 1 TEXT "1S"
- DELAY 500
- GOTO SCREEN main
- LABEL helpsys
- HELP: CLEAR HELP SCREEN
- HELP: PUT HELP TEXT AT 1 : "This program demonstrates the use of"
- HELP: PUT HELP TEXT AT 2 : "the MODEL 1100 and the PARKER COMPUMOTOR"
- HELP: PUT HELP TEXT AT 3 : "smart MOTOR/DRIVES.  You should first"
- HELP: PUT HELP TEXT AT 4 : "hook up the MODEL 1100 to the motor"
- HELP: PUT HELP TEXT AT 5 : "drive by following the instructions in"
- HELP: PUT HELP TEXT AT 6 : "Section 5.6.1 of the MODEL 1100 manual."
- HELP: PUT HELP TEXT AT 7 : "COM 1 on the MODEL 1100 is connected to"
- HELP: PUT HELP TEXT AT 8 : "----- PRESS ANY KEY FOR MORE HELP -----"
- HELP: DISPLAY HELP TEXT AND WAIT FOR KEY
- HELP: CLEAR HELP SCREEN
- HELP: PUT HELP TEXT AT 1 : "the RS232 port on the motor/drive.  A"
- HELP: PUT HELP TEXT AT 2 : "cable is available from EASON"
- HELP: PUT HELP TEXT AT 3 : "TECHNOLOGY.  Please call us if you need"
- HELP: PUT HELP TEXT AT 4 : "further assistance."
- HELP: PUT HELP TEXT AT 5 : "          (707)-433-2854"
- HELP: PUT HELP TEXT AT 6 : "          (707)-433-3706 (FAX)"
- HELP: PUT HELP TEXT AT 8 : "--PRESS ANY KEY TO RESUME THE PROGRAM--"
- HELP: DISPLAY HELP TEXT AND WAIT FOR KEY
- HOT KEY (10) RESUME
- RETURN
- TITLE:::::::::: "RETURN TO BASIC" ::::::::::::
*>SCREEN exit
- PUT LARGE TEXT AT (1,1): "THANK YOU FOR USING"
- PUT LARGE TEXT AT (8,2): "EASON"
- PUT LARGE TEXT AT (5,3): "TECHNOLOGY"
- DELAY 2500
  pos 1,6
- END OF PSEUDOCODE