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OUTPTS:
P620(DO01)-output stage ON(when motor run=1 ,when stops=0)
P621(DO02)- brake applied
P622(DO03)- brake released
I´m using MDX61B movidrive ,My aplications sequence which is working , but i want delays here to make in IPOS -- Task1:MOTOR RUN(P620 --- ON)---(P622 --- ON),(P621-OFF) = {DO03 is ON} - {DO02 is OFF} ,,,, Task2:MOTOR IS STOPPED(P620 --- OFF) ---(P622---OFF)---(P621-ON) = {DO02 is ON} - {DO03 is OFF}, And what i need is to delay turning on and off DB00 and DO02 when motor is stopping and starting.
_MoviLink(ml_T1);
#pragma globals 128 312 // global declared variables H127 .. H312
long a; // H128 variable a
MOVLNK ml_T1; // H129 - H135 data structures MoviLink Task 1 (7x)
long ML_T1_DATA; // H136 ML-data
// initialize
ml_T1.BusType = ML_BT_SBUS; // MOVILINK SYSTEMBUS
ml_T1.Address = ML_ADR_OWN; // MOVILINK ADRESSE (this device)
ml_T1.Format = ML_FT_PAR; // MOVILINK Parameter without PD
ml_T1.Service = ML_S_RD; // MOVILINK read
ml_T1.DPointer = numof(ML_T1_DATA); // MOVILINK data
// write volatile parameter
ml_T1.Service = ML_S_WRV; // Service: Write volatile
ml_T1.Index = xxxxxx; // Index of parameter
ML_T1_DATA = yyyyyyy; // value to send
_MoviLink(ml_T1); // process movilink
while(ml_T1.Result != 0); // wait until movilink finished
/*=============================================
IPOS Source File
===============================================*/
#include <constb.h>
#include <iob.h>
MOVLNK Ml;
MLDATA Mld;
/*=============================================
Main Function (IPOS Entry Function)
===============================================*/
main() {
Ml.BusType = ML_BT_SBUS; // MOVILINK SYSTEMBUS
Ml.Address = ML_ADR_OWN; // MOVILINK ADRESSE (this device)
Ml.Service = ML_S_WRV;
Ml.Index = 8516; // Index of P301
Ml.DPointer = numof(Mld);
/*-------------------------------------
Initialisation
--------------------------------------*/
/*-------------------------------------
Main Loop
--------------------------------------*/
while(1)
{
if(DO01==0)
{
_Wait(5000);
_BitClear(StdOutpIPOS,3);
_BitSet(StdOutpIPOS,2);
}
else
{
_Wait(5000);
_BitClear(StdOutpIPOS,2);
_BitSet(StdOutpIPOS,3);
Mld.WritePar = 500; //Speed of P301
_MoviLink(Ml);
}
}
}
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