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TITAN Software

TITAN_6.0_Software_Installation_V744B

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Sample A-Script Programs

Cycle Testing

'*****PROGRAM_0*****
PRG 0
ECLEARX ;Clear Any Error
SVON ;Turn Servo On
WAITX ;Wait Servo On
V1=1
WHILE TRUE ;Loop Forever
HSPD=150 ;Set Speed
ACC=3000 ;Set Accel
WHILE V1<=10 ;Run 10 cycles
X0
X5000
V1++ ;Increment V1
ENDWHILE
V1=1 ;Reset V1 to 1
GOSUB 1 ;Run Subroutine 1
ENDWHILE
END

SUB 1
HSPD=500
X120000 ;Move to target
WAITX
DO1=1 ;Turn on DO1
DELAY=500 ;Wait 500 msec
DO1=0 ;Turn off DO1
DELAY=100 ;Wait 100 msec
X0 ;Go Back to Zero
ENDSUB
'*****PROGRAM_1*****
PRG 1
WHILE TRUE
RGB=V1
DELAY=100
ENDWHILE
END

'*****PROGRAM_2*****
PRG 2

END

Demonstrates a simple cycle motion and use of subroutine with motion with digital output trigger. While the first program is running, the second program lights the RGB lights depending on the motion.

Index Homing & Hardstop Homing

'*****PROGRAM_0*****
PRG 0
ECLEARX ;Clear Any Error
SVON ;Turn Servo On
WAITX ;Wait Servo On
GOSUB 1 ;Run Index Homing
GOSUB 2 ;Run Hard Stop Homing
END
;*** Index Homing Example
SUB 1
HMODE=9 ;Home search Index in minus dir
HSPD=50 ;Set Speed
ACC=3000 ;Set Accel
HOMEX ;Perform home
WAITH ;Wait for home complete
EX=1200 ;Set home pos offset
X0 ;Move out of index
WAITX ;Wait motion done
ENDSUB
;*** Hard Stop Homing Example
SUB 2
HSPD=10 ;Set Speed
ACC=5000 ;Set Accel
INPOS=2000 ;Set InPos range
JOGXN ;Jog Neg
WHILE CUR>-1000 ;Wait for 1A
ENDWHILE
STOPX ;Stop Jog
WAITX ;Wait Stop complete
DELAY=1000 ;Delay 1 sec
EX=-1000 ;Set pos to -1000
X0 ;Move out to zero
WAITX
INPOS=500 ;Set InPos range
ENDSUB
'*****PROGRAM_1*****
PRG 1
WHILE TRUE
RGB=V1
DELAY=100
ENDWHILE
END

'*****PROGRAM_2*****
PRG 2

END

Homing using encoder z index is demonstrated in subroutine 1. Hardstop homing routine is demonstrated in subroutine 2.

TITAN Download Resources

Sample A-Script Programs

Cycle Testing

Index Homing & Hardstop Homing

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