Anaheim CLCI2000 user manual Slew.At.Base.Ccw Address, Axis#, Slew.At.Base.Cw Address, Axis#

what the state of the five Outputs will be. A '1' for the Outputs will turn the Output ON, and a '0' will turn the output OFF. The last two numbers will specify which home switch will be chosen HOME.DIR.3 refers to AXIS 3 (also called Axis C), and HOME.DIR.4 refers to AXIS 4 (Also refered to as Axis D). Only one home switch may be chosen for each axis at a given time. A '1' will specify that the '+' or 'CW' direction Home Limit Switch will be chosen. A '0' will specify that the '-' or 'CCW' direction Home Limit Switch has been chosen. For Example:

SET.OUTPUT.2 1,1,1,0,0,1,1

would set outputs 5,4, and 3 ON (at a 0 VDC level), and outputs 2 and 1 Off (at an OPEN level). It would also set the +Home Limit Switch for both axis 3 and 4 to be the Active Switch.

SET.POSITION ADDRESS, AXIS#, VALUE

This Subroutine will set the number in the Position Register. The values should range between 0 and 16,777,215.

SLEW.AT.BASE.CCW (ADDRESS, AXIS#)

This Subroutine will SLEW the motor at Base Speed in the counterclockwise direction and continues moving in that direction until the software instructs it to do something different, or a hardware Limit Switch is activated.

SLEW.AT.BASE.CW (ADDRESS, AXIS#)

This Subroutine will SLEW the motor at Base Speed in the clockwise direction and continues moving in that direction until the software instructs it to do something different, or a hardware Limit Switch is activated.

SOFT.INPUT.CCW (ADDRESS, AXIS#)

This Function will return the value for the -Soft Limit Switch. A 1 will mean that the switch is active, and a 0 will mean the switch is not active.

SOFT.INPUT.CW (ADDRESS, AXIS#)

This Function will return the value for the +Soft Limit Switch. A 1 will mean that the switch is active, and a 0 will mean the switch is not active.

STOP.MOTION ADDRESS, AXIS#

This Subroutine will immediately stop the pulses.

WAIT.FOR.STOP (ADDRESS, AXIS#)

This Subroutine will pause the execution of the program until the Axis has completed its motion.

NOTE: THERE ARE OTHER SUBROUTINES AND FUNCTIONS THAT ARE CONTAINED IN THIS FILE THAT SHOULD NOT BE USED OR MODIFIED IN ANY WAY - THEY ARE USED INTERNALLY BY THE ABOVE SUBROUTINES AND FUNCTIONS, AND ANY ALTERATION MIGHT PRODUCE UNEXPECTED RESULTS.

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