- GOTO SCREEN begin
*>SCREEN begin
- PUT TEXT AT (7,7): "NORTHBROOK, IL (708) 291-2340"
- PUT LARGE TEXT AT (3,3): "ELECTRIC AMERICA"
  CALL BANNER(2,1,"YASKAWA",1)
- SOFTKEY (1) "START" GOTO SCREEN testhr
- SOFTKEY WAIT
- TITLE:::::::::: "TEST HR SUBPROGRAM PLACED AT THE BOTTOM OF THE" ::::::::::::
- TITLE:::::::::: "PROGRAM FOR CLARITY..." ::::::::::::
- TITLE:::::::::: ":::::::::::::" ::::::::::::
- TITLE:::::::::: "MAIN RUN LOOP" ::::::::::::
- TITLE:::::::::: ":::::::::::::" ::::::::::::
*>SCREEN main
- PUT TEXT AT (16,1): "MAIN MENU"
- PUT TEXT AT (1,2): "ROLL    ROLLFEED DEMONSTRATION"
- PUT TEXT AT (1,3): "INDEX   INDEXING MOVES "
- PUT TEXT AT (1,4): "JOG     JOG MOTION"
- PUT TEXT AT (1,5): "PROFL   RUN STORED MOTION PROFILES"
- PUT TEXT AT (1,7): "I/O     MONITOR HR I/O"
- COM: PUT COM 1 TEXT "ALM" STRING RESPONSE alm$
  if right$(alm$,4)="COIN" then svflag=1
  if svflag=2 then goto svoff
  svtxt$="SVOFF   DISABLES THE AMP TO CALM NERVES"
  svkey$="SVOFF"
- GOTO LABEL svdone
- LABEL svoff
  svtxt$="SVON    REENABLES THE AMP TO MAKE MOVES"
  svkey$="SVON"
- LABEL svdone
- PUT TEXT AT (1,6): svtxt$
- SOFTKEY (1) "ROLL" GOTO SCREEN rollscr
- SOFTKEY (2) "INDEX" GOTO SCREEN runscr
- SOFTKEY (3) "JOG" GOTO SCREEN jogscr
- SOFTKEY (4) "PROFL" GOTO SCREEN proflscr
- SOFTKEY (5) svkey$ GOTO SCREEN svonoff
- SOFTKEY (6) " I/O" GOTO SCREEN iomon
- SOFTKEY WAIT
- TITLE:::::::::: "ROLL FEED DEMONSTRATION" ::::::::::::
*>SCREEN rollscr
  if svflag=1 then goto oktoroll
- PUT LARGE TEXT AT (1,3): "PLEASE REENABLE THE"
- PUT LARGE TEXT AT (1,4): "AMP AND TRY AGAIN!!"
- PUT HUGE TEXT AT (1,1): "SERVO OFF!"
- DELAY 3000
- GOTO SCREEN main
*>SCREEN oktoroll
- PUT LARGE TEXT AT (7,1): "ROLLFEED"
  if imageflg=1 then goto shortcut
  imageflg=1
  r=12:xend=70:yend=40
- GOSUB LABEL circle
  call line(xend,yend-r,200,yend-r,1)
  r=6:xend=170:yend=22
- GOSUB LABEL circle
  r=6:xend=170:yend=34
- GOSUB LABEL circle
  call getimage(0,16,239,55,roll%(1))
- LABEL shortcut
  call putimage(0,16,roll%(1))
- SOFTKEY (1) "SETUP" GOTO SCREEN setupscr
- SOFTKEY (2) "UNITS" GOTO SCREEN units
- SOFTKEY (4) " RUN" GOTO SCREEN rollrun
- SOFTKEY (6) "EXIT" GOTO SCREEN main
- SOFTKEY WAIT
- LABEL circle
  call line(r+xend,yend,r+xend,yend,0)
  for n=0 to 2*pi step .1
  x=r*cos(n) + xend
  y=r*sin(n)+ yend
  call line(,,x,y,1)
  next
- RETURN
- TITLE:::::::::: "SET DISPLAY / ENTRY UNITS" ::::::::::::
*>SCREEN setupscr
- PUT LARGE TEXT AT (4,1): "ROLLFEED SETUP"
- PUT TEXT AT (2,3): "Feedlength?"
- PUT TEXT AT (26,3): dlbl$
- GET NUMBER dist AT (14,3) USING "#######.###" DEFAULT dist
- PUT TEXT AT (4,4): "Feedrate?"
- PUT TEXT AT (26,4): vlbl$
- LABEL rollnxta
- GET NUMBER vel AT (14,4) USING "#######.###" DEFAULT vel
  if (vel*scale/1000)<=120000 then goto rollnxtb
- PUT TEXT AT (1,8): "FEEDRATE TOO HIGH, MAKE VALUE <"
  vel=110000000/scale
- PUT NUMBER vel AT (33,8) USING "####.###"
- DELAY 1500
- PUT TEXT AT (1,8): "                                        "
- GOTO LABEL rollnxta
- LABEL rollnxtb
  v=vel*scale/1000:if v>=1 then goto fastenuf
  vel=1000/scale
- PUT NUMBER vel AT (32,8) USING "#####.###"
- PUT TEXT AT (2,8): "SLOW FEEDRATE!! INCREASE TO >"
- PUT TEXT AT (1,8): "FEEDRATE TOO LOW, MAKE VALUE"
- DELAY 2000
- PUT TEXT AT (1,8): "                                        "
- GOTO LABEL rollnxta
- LABEL fastenuf
- PUT TEXT AT (2,5): "Accel Time?"
- PUT TEXT AT (26,5): "msec"
- LABEL rollnxt1
- GET NUMBER accltime AT (21,5) USING "####" DEFAULT accltime
  if accltime>=1 then goto rollnxt2:accltime=10
- PUT TEXT AT (1,8): "CANNOT ENTER AN ACCEL TIME OF 0 REENTER"
- DELAY 2000
- PUT TEXT AT (1,8): "                                       "
- GOTO LABEL rollnxt1
- LABEL rollnxt2
- PUT TEXT AT (1,6): "# of Cycles?"
- GET NUMBER cycles AT (21,6) USING "####" DEFAULT cycles
- SOFTKEY (1) " RUN" GOTO SCREEN rollrun
- SOFTKEY (3) "EDIT" GOTO SCREEN setupscr
- SOFTKEY (6) "EXIT" GOTO SCREEN rollscr
- SOFTKEY WAIT
*>SCREEN units
- PUT TEXT AT (6,4): "CURRENT UNITS:"
- PUT TEXT AT (3,5): "CURRENT DIAMETER:"
- PUT LARGE TEXT AT (5,1): "SELECT UNITS"
- LABEL unit1
- PUT TEXT AT (21,4): dlbl$
- PUT NUMBER rolldia AT (21,5) USING "####.###"
- PUT TEXT AT (30,5): dlbl$
- SOFTKEY (1) "METER" GOTO SCREEN meter
- SOFTKEY (2) " MM" GOTO SCREEN mms
- SOFTKEY (3) "FEET" GOTO SCREEN feet
- SOFTKEY (4) "INCH" GOTO SCREEN inch
- SOFTKEY (5) "DIAM." GOTO SCREEN rolldiam
- SOFTKEY (6) "EXIT" GOTO SCREEN rollscr
- SOFTKEY WAIT
- TITLE:::::::::: "SCALE UNITS IN INCHES" ::::::::::::
- LABEL feet
  scale = onerev/(PI*rollbase*12)
  uscale = 12
  dlbl$ = "FEET  "
  vlbl$ = "FEET/MIN  "
- GOTO LABEL unit1
- TITLE:::::::::: "SCALE UNITS IN INCHES" ::::::::::::
- LABEL inch
  scale = onerev/(PI*rollbase)
  uscale = 1
  dlbl$ = "INCHES"
  vlbl$ = "INCHES/MIN"
- GOTO LABEL unit1
- TITLE:::::::::: "SCALE UNITS IN METERS" ::::::::::::
- LABEL meter
  scale = onerev/(PI*rollbase*.0254)
  uscale = .0254
  dlbl$ = "METERS"
  vlbl$ = "METERS/MIN"
- GOTO LABEL unit1
- TITLE:::::::::: "SCALE UNITS IN MILLIMETERS" ::::::::::::
- LABEL mms
  scale = onerev/(PI*rollbase*25.4)
  uscale = 25.4
  dlbl$ = "MM    "
  vlbl$ = "MM/MIN    "
- GOTO LABEL unit1
- TITLE:::::::::: "ROLL DIAMETER ENTRY" ::::::::::::
*>SCREEN rolldiam
- PUT TEXT AT (1,5): "ENTER NEW ROLL DIAM."
- PUT LARGE TEXT AT (5,1): "ROLL DIAMETER"
- PUT TEXT AT (31,5): dlbl$
- GET NUMBER rolldia AT (22,5) USING "####.###" DEFAULT rolldia
  rollbase=rolldia*uscale
- GOTO SCREEN units
- TITLE:::::::::: "ROLLFEED - RUN SECTION" ::::::::::::
*>SCREEN rollrun
  n=1
- LABEL rollentr
- PUT TEXT AT (1,4): "STROKES PER MIN:"
- PUT TEXT AT (6,5): "FEEDLENGTH:"
- PUT TEXT AT (8,6): "FEEDRATE:"
- PUT TEXT AT (9,7): "CYCLE #:"
- PUT LARGE TEXT AT (5,1): "RUN ROLLFEED"
- PUT NUMBER dist AT (18,5) USING "#####.###"
- PUT TEXT AT (28,5): dlbl$
- PUT NUMBER vel AT (18,6) USING "#####.###"
- PUT TEXT AT (28,6): vlbl$
  'call getimage(5,16,roll%(1))
- SOFTKEY (6) "STOP" GOTO SCREEN rollstop
  d&=dist*scale
  v&=vel*scale/1000
- COM: PUT COM 1 MIXED TEXT "PRM5=" NUMBER accltime
  call readms(told&)
- GOTO LABEL rolllp1
- LABEL rollloop
- SOFTKEY CHECK
  call readms(t&)
  t=t&-told&:if t<0 then t=t+65536
  t=60000/t:told&=t&
- LABEL rolllp1
- PUT NUMBER t AT (18,4) USING "####.###"
- PUT NUMBER n AT (23,7) USING "###"
- COM: PUT COM 1 MIXED TEXT "MOVI" NUMBER d&
- DELAY 30
- COM: PUT COM 1 MIXED TEXT "SPD" NUMBER v&
- DELAY 30
- COM: PUT COM 1 TEXT "ST"
  if loc(1)=0 then goto %%0
- COM: GET COM 1 TEXT resp$
  if left$(resp$, 4)<>"COIN" then goto rollerr
  n=n+1
  if n <= cycles then goto rollloop
- GOTO SCREEN rolldone
- TITLE:::::::::: "ROLLFEED COMPLETE" ::::::::::::
*>SCREEN rolldone
- PUT LARGE TEXT AT (4,1): "ROLLFEED DEMO"
- PUT LARGE TEXT AT (8,2): "DONE"
- SOFTKEY (1) "START" GOTO SCREEN rollrun
- SOFTKEY (6) "EXIT" GOTO SCREEN rollscr
- SOFTKEY WAIT
- TITLE:::::::::: "ROLLFEED STOPPED" ::::::::::::
*>SCREEN rollstop
- PUT LARGE TEXT AT (4,1): "ROLLFEED DEMO"
- PUT LARGE TEXT AT (7,2): "STOPPED"
- SOFTKEY (1) "CONT" GOTO SCREEN rollcont
- SOFTKEY (6) "EXIT" GOTO SCREEN rollscr
- SOFTKEY WAIT
- TITLE:::::::::: "ROLLFEED ERROR" ::::::::::::
*>SCREEN rollerr
- PUT TEXT AT (4,5): "RESPONSE FROM HR:"
- PUT LARGE TEXT AT (4,1): "ROLLFEED DEMO"
- PUT LARGE TEXT AT (8,2): "ERROR"
- PUT TEXT AT (22,5): resp$
- GOSUB LABEL hrreset
- SOFTKEY (1) "CONT" GOTO SCREEN rollcont
- SOFTKEY (6) "EXIT" GOTO SCREEN rollscr
- SOFTKEY WAIT
- TITLE:::::::::: "ROLL LOOP CONTINUE. REPAINT SCREEN" ::::::::::::
*>SCREEN rollcont
- GOTO LABEL rollentr
- TITLE:::::::::: "STATUS AND MOVE SYSTEM" ::::::::::::
*>SCREEN runscr
  if svflag=1 then goto oktorun
- PUT LARGE TEXT AT (1,3): "PLEASE REENABLE THE"
- PUT LARGE TEXT AT (1,4): "AMP AND TRY AGAIN!!"
- PUT HUGE TEXT AT (1,1): "SERVO OFF!"
- DELAY 3000
- GOTO SCREEN main
*>SCREEN oktorun
- PUT TEXT AT (2,4): "POSITION:             STEPS"
- PUT LARGE TEXT AT (2,1): "RUN HR MOTOR/DRIVE"
- SOFTKEY (1) "ZERO" GOTO SCREEN zeroscr
- SOFTKEY (2) "MOVE" GOTO SCREEN starts
- SOFTKEY (3) "STOP" GOTO SCREEN stops
- SOFTKEY (4) "EDIT" GOTO SCREEN editscr
- SOFTKEY (6) "EXIT" GOTO SCREEN main
  'hard coded for improved speed...
- LABEL statloop
  print#1,"MON1":line input#1,ps1$:print#1,"":ps$=right$(ps1$,9)
  if left$(ps1$,3)="ERR" then gosub handsoff
  px&=val(ps$):p=px&
  pos11,4:print using"-###########";px&;
  config#1,96,7,1,1,1,1,100
  skey%=inkey():if skey%=0then goto statloop
  if skey%=15104then goto zeroscr
  if skey%=15360then goto starts
  if skey%=15616then goto stops
  if skey%=15872then goto editscr
  if skey%=16384then goto main
- GOTO LABEL statloop
- TITLE:::::::::: "ZERO POSITION" ::::::::::::
- LABEL zeroscr
- COM: PUT COM 1 TEXT "SET0"
- GOTO LABEL statloop
- TITLE:::::::::: "START MOTION" ::::::::::::
- LABEL starts
- COM: PUT COM 1 MIXED TEXT "MOVI" NUMBER dd&
- COM: PUT COM 1 TEXT "ST"
- GOTO LABEL statloop
- TITLE:::::::::: "STOP MOTION" ::::::::::::
- LABEL stops
- COM: PUT COM 1 TEXT "SKIP"
- GOTO LABEL statloop
- TITLE:::::::::: "EDIT MOVE DATA" ::::::::::::
*>SCREEN editscr
- PUT TEXT AT (2,4): "MOVE DIST:              STEPS"
- PUT TEXT AT (3,5): "VELOCITY:              REVS/MIN"
- PUT TEXT AT (1,6): "ACCEL TIME:              MSEC"
- PUT LARGE TEXT AT (3,1): "EDIT-PRESS ENTER"
- PUT NUMBER dd& AT (12,4) USING "-############"
- PUT NUMBER vd& AT (18,5) USING "#######"
- PUT NUMBER atime& AT (21,6) USING "####"
- GET NUMBER dd& AT (12,4) USING "-############" DEFAULT dd&
- LABEL getspeed
- GET NUMBER vd& AT (18,5) USING "#######" DEFAULT vd&
  v&=vd&*32.768
- COM: PUT COM 1 MIXED TEXT "SPD" NUMBER v&
- COM: GET COM 1 TEXT stat2$
  if left$(stat2$,3)="ERR"then goto toofast
- LABEL getaccel
- GET NUMBER atime& AT (21,6) USING "####" DEFAULT atime&
- COM: PUT COM 1 MIXED TEXT "TRM5=" NUMBER atime&
- COM: GET COM 1 TEXT stat3$
  if left$(stat3$,3)="ERR"then goto tooquick
- GOTO SCREEN runscr
- TITLE:::::::::: "START MOTION" ::::::::::::
*>SCREEN QUICK start
- CLEAR SCREEN
- PUT LARGE TEXT AT (1,1): " MOTION HAS BEGUN   "
- COM: PUT COM 1 MIXED TEXT "MOVI" NUMBER dd&
- COM: PUT COM 1 TEXT "ST"
- 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 "SKIP"
- DELAY 500
- GOTO SCREEN main
- TITLE:::::::::: "JOG SYSTEM" ::::::::::::
*>SCREEN jogscr
  if svflag=1 then goto oktojog
- PUT LARGE TEXT AT (1,3): "PLEASE REENABLE THE"
- PUT LARGE TEXT AT (1,4): "AMP AND TRY AGAIN!!"
- PUT HUGE TEXT AT (1,1): "SERVO OFF!"
- DELAY 3000
- GOTO SCREEN main
*>SCREEN oktojog
- PUT TEXT AT (2,5): "ENTER MAXIMUM JOG SPEED:       REV/MIN"
- PUT LARGE TEXT AT (3,1): "JOG THE HR DRIVE"
- GET NUMBER jogspeed AT (27,5) USING "#####" DEFAULT jogspeed
  jogs&=jogspeed*32.768
- COM: PUT COM 1 MIXED TEXT "SPD" NUMBER jogs&
- LABEL jogrun
- SOFTKEY (1) "CW" GOTO SCREEN jogcw
- SOFTKEY (3) "CCW" GOTO SCREEN jogccw
- SOFTKEY (5) "EDIT" GOTO SCREEN oktojog
- SOFTKEY (6) "EXIT" GOTO SCREEN main
- SOFTKEY WAIT
- LABEL jogcw
- COM: PUT COM 1 TEXT "JOGN"
- LABEL waitcw
  call scankey (jog%)
  if jog% <> 15104 then goto jogdone
- GOTO LABEL waitcw
- COMMENT "Sends out JOG CCW command"
- LABEL jogccw
- COM: PUT COM 1 TEXT "JOGP"
- LABEL waitccw
  call scankey (jog%)
  if jog% <> 15616 then goto jogdone
- GOTO LABEL waitccw
- LABEL jogdone
- COM: PUT COM 1 TEXT "SKIP"
  n=inkey():if n <>0 then goto %%0
- GOTO SCREEN jogrun
- TITLE:::::::::: "HANDS OFF MESSAGE" ::::::::::::
- LABEL handsoff
- PUT TEXT AT (13,5): "THE HR SERIES DOES NOT DEAL"
- PUT TEXT AT (13,6): "WITH BUFFERED MOVES. PLEASE"
- PUT TEXT AT (13,7): "WAIT UNTIL MOVE IS DONE!"
- DELAY 2000
- PUT TEXT AT (13,5): "                           "
- PUT TEXT AT (13,6): "                           "
- PUT TEXT AT (13,7): "                           "
- RETURN
- TITLE:::::::::: "SPEED IS TOO FAST" ::::::::::::
- LABEL toofast
- PUT TEXT AT (4,7): "NEW SPEED IS TOO FAST, TRY AGAIN!!"
- DELAY 2000
- PUT TEXT AT (4,7): "                                  "
- GOTO LABEL getspeed
- TITLE:::::::::: "ACCEL TIME IS ZERO" ::::::::::::
- LABEL tooquick
- PUT TEXT AT (4,7): "ACCEL IS ZERO. TRY 1 TO 9999"
- DELAY 2000
- PUT TEXT AT (4,7): "                                  "
- GOTO LABEL getaccel
- TITLE:::::::::: "SERVO ON / OFF CONTROL" ::::::::::::
*>SCREEN svonoff
- PUT HUGE TEXT AT (2,1): "SERVO IS"
  if svflag=2 then goto turnon
- COM: PUT COM 1 TEXT "SVOFF"
- PUT HUGE TEXT AT (4,2): "OFF!"
  svflag=2
- GOTO LABEL servostt
- LABEL turnon
- COM: PUT COM 1 TEXT "SVON"
- PUT HUGE TEXT AT (4,2): "ON!!"
  svflag=1
- LABEL servostt
- DELAY 1000
- GOTO SCREEN main
- TITLE:::::::::: "RESET HR AFTER ERROR" ::::::::::::
- LABEL hrreset
- COM: PUT COM 1 TEXT ""
  a$=inkey$(#1):if a$<>"" then goto %%0
- COM: PUT COM 1 TEXT "ARES"
- DELAY 100
- COM: PUT COM 1 TEXT "SVON"
- DELAY 1200
  a$=inkey$(#1):if a$<>"" then goto %%0
- RETURN
- TITLE:::::::::: "INITIALIZE UNIT SUBPROGRAM" ::::::::::::
- LABEL initunit
- COMMENT "Initialize units for DRIVE"
  dd&=onerev
  vd&=1000
  atime&=1
- TITLE:::::::::: "ROLL FEED DEMO PARAMETER SETUP" ::::::::::::
  dlbl$ = "INCHES"
  vlbl$ = "INCHES/MIN"
  dist = 3.14
  vel = 10
  accltime = 10
  cycles = 10
  uscale = 1
  rolldia = 12
  rollbase=rolldia*uscale
  scale = onerev/(PI*rollbase)
  jogspeed=1000
- RETURN
- TITLE:::::::::: "INITIALIZE HR" ::::::::::::
*>SCREEN testhr
- PUT TEXT AT (2,1): "ATTEMPTING TO ESTABLISH COMMUNICATION"
- PUT TEXT AT (8,2): "WITH THE HR SERVO SYSTEM."
- PUT LARGE TEXT AT (2,3): "PLEASE STAND BY..."
- HOT KEY (10) "" INTERRUPT: GOSUB LABEL helpsys
- GET BACKGROUND STYLE SETUP: 1
- POWER RESUME ON
  dim roll%(1000)
  imageflg=0
  svflag=2
  onerev=32768
  drtype=1
- GOSUB LABEL initunit
- COM: INIT COM 1 ECHO 0 BAUD 96 HANDSHAKE 1 TIMEOUT 250 STRIP 1
  n = 1
- LABEL comtests
  CONFIG#1,96,7,1,1,1,1,250
  print#1,chr$(17)
- DELAY 750
  for n=1 to 10
- COM: PUT COM 1 TEXT ""
  next
  CONFIG#1,96,7,1,1,1,1,100
- COM: PUT COM 1 TEXT "ABC"
- COM: GET COM 1 TEXT stat1$
- COM: GET COM 1 TEXT stat2$
  if left$(stat1$,3)="ERR" or left$(stat2$,3)="ERR"then goto runhr
  if n = 11 then goto notalkhr
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
- PUT LARGE TEXT AT (1,1): "SERVO 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 notalkhr
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
- PUT TEXT AT (3,1): "CANNOT ESTABLISH COMMUNICATIONS WITH"
- PUT TEXT AT (15,2): "HR-SERVO"
- PUT TEXT AT (8,5): "RETURNING TO BASIC..."
- DELAY 1000
- GOTO SCREEN errexit
- LABEL runhr
- COM: INIT COM 1 ECHO 0 BAUD 96 HANDSHAKE 1 TIMEOUT 100 STRIP 1
  CONFIG#1,96,7,1,1,1,1,100
- COM: PUT COM 1 TEXT "PRM20=10000"
- COM: PUT COM 1 TEXT "PRM72=0" STRING RESPONSE okjunk$
- COM: PUT COM 1 TEXT "ZEROSET0"
- COM: PUT COM 1 TEXT "RES"
- DELAY 500
  for n=1 to 10
- COM: PUT COM 1 TEXT ""
  next
- COM: PUT COM 1 TEXT "SET0"
- COM: PUT COM 1 TEXT "PRM4=65536"
- COM: PUT COM 1 TEXT "PRM5=50"
- COM: PUT COM 1 TEXT "PRM7=64"
- COM: PUT COM 1 TEXT "PRM8=32768"
- COM: PUT COM 1 TEXT "PRM9=0"
- COM: PUT COM 1 TEXT "PRM11=32768"
- COM: PUT COM 1 TEXT "PRM12=1"
- COM: PUT COM 1 TEXT "PRM13=1"
- COM: PUT COM 1 TEXT "PRM15=2"
- COM: PUT COM 1 TEXT "PRM19=11"
- COM: PUT COM 1 TEXT "RES"
- DELAY 500
  for n=1 to 10
- COM: PUT COM 1 TEXT ""
  next
  CONFIG#1,96,7,1,1,1,1,100
- CLEAR GRAPHICS SCREEN
- GOTO SCREEN main
- TITLE:::::::::: "HELP SYSTEM TEXT" ::::::::::::
- 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 1000 and the Yaskawa Electric"
- HELP: PUT HELP TEXT AT 3 : "HR MOTOR/DRIVE.  You should first"
- HELP: PUT HELP TEXT AT 4 : "hook up the MODEL 1000 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 1000 manual."
- HELP: PUT HELP TEXT AT 7 : "COM 1 on the MODEL 1000 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 (3,2): "YASKAWA & EASON"
- PUT LARGE TEXT AT (6,3): "TECHNOLOGY"
  pos 40,7
- DELAY 2500
  END
*>SCREEN errexit
- PUT TEXT AT (1,1): "The Model 1000 was unable to communicate"
- PUT TEXT AT (1,2): "with the Yaskawa HR Servo Drive System."
- PUT TEXT AT (1,3): "Check your connections.  Do you have the"
- PUT TEXT AT (1,4): "9 pin serial cable connected to COM1 on"
- PUT TEXT AT (1,5): "the Model 1000 and 3CN on the HR Servo?"
  
- PUT TEXT AT (1,6): "If you have questions about connections,"
- SOFTKEY (1) "MORE" GOTO SCREEN errmore
- SOFTKEY WAIT
*>SCREEN errmore
- PUT TEXT AT (1,1): "refer to Section 5.6.1 of the Model 1000"
- PUT TEXT AT (1,2): "manual.  If you need further assistance"
- PUT TEXT AT (1,3): "contact Eason Technology at:"
- PUT TEXT AT (9,5): "PHONE: (707) 433-2854"
- PUT TEXT AT (11,6): "FAX: (707) 433-3706"
- SOFTKEY (1) "MORE" GOTO SCREEN exit
- SOFTKEY WAIT
- TITLE:::::::::: "MOTION PROFILE GENERATION" ::::::::::::
*>SCREEN proflscr
- PUT HUGE TEXT AT (2,1): "FUTURE"
- PUT HUGE TEXT AT (2,2): "OPTION!"
- DELAY 3000
- GOTO SCREEN main
- TITLE:::::::::: "I/O MONITOR" ::::::::::::
*>SCREEN iomon
- PUT HUGE TEXT AT (2,1): "FUTURE"
- PUT HUGE TEXT AT (2,2): "OPTION!"
- DELAY 3000
- GOTO SCREEN main
- END OF PSEUDOCODE