Roboteq

'DISCLAIMER:

'This script is provided as a sample and has not been validated for any specific use.

'It is the customer's responsibility to thoroughly test and evaluate the script before using it in any application.

'Roboteq does not assume any liability for errors or issues that may arise from its use. Use at your own risk.

'OPERATION: 

'This script reads a digital input and sets a digital output if there is any Motor or Fault flag. 

'The fault is cleared by reading another digital input. To clear the fault, the script sends an idle motor command,

'Based on the operating mode used. The specific inputs and outputs that will be used are user-configurable 

'CONFIGURATION:

'The script can be configured by modifying the defined parameters, NUMBER_OF_CHANNELS, DIGITAL_OUTPUT and DIGITAL_INPUT

option explicit 

' ------ CHANGE THESE VALUES FOR PARAMETRIZATION ------

#define NUMBER_OF_MOTORS 2 '1 for single channel, 2 for dual channel operation

#define DIGITAL_OUTPUT 1 'The output used as a fault indicator 

#define DIGITAL_INPUT 1 'The input used to reset the fault

' ------ BASIC SCRIPT. DO NOT MODIFY ------

dim fault as boolean

dim operatingMode as integer

dim i as integer

fault = false 

while(1) ' main loop

' Check fault

for i = 0 andwhile i < NUMBER_OF_MOTORS

    if (getvalue(_FM,i+1)) 'Check motor flags

        fault = true

    end if

next

if getvalue(_FF,1) 'Check faultflags 

    fault = true

end if

'Output Update

if fault

    setcommand(_D1,DIGITAL_OUTPUT) 'set digital output

    setcommand(_EX,1)'enable emergency stop

else

    setcommand(_D0,DIGITAL_OUTPUT) 'reset digital output

end if    

'Reset fault

if fault and getvalue(_DI,DIGITAL_INPUT)

    wait(3000) 'wait 3 seconds for the motors to stabilize    

    setcommand(_MG,1) 'Reset emergency stop

    fault = false

    wait(30)

    for i = 1 andwhile i < NUMBER_OF_MOTORS+1

        operatingMode = getconfig(_MMOD,i)

        if (operatingMode < 3) and (operatingMode > 4) 'Speed, Torque or Open Loop

            setcommand(_G,i,0)

        else 'Count Position or Position Tracking

            setcommand(_P,i,getvalue(_F,i)) 'At position, send a position command equal to the motor feedback

        end if

    next

end if

wait(1) 'Loop Frequency 1KHz

end while