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--- plc:plc_examples [2017/10/20 18:49] – skirillov
+++ plc:plc_examples [2017/10/20 18:55] – skirillov
@@ Line 181: / Line 181: @@
 ==== Gantry Alignment Procedure (with Homing) ====
-<code c file=M132>
+<code c M132>
 G10 L80 P5521 Q1
 G10 L80 P5525 Q1
@@ Line 192: / Line 192: @@
 G91 G0 Y   300.0000 F    30.00
 G04 P0.1
 M135
+</code>
+<code c M135>
+G10 L80 P5521 Q1
+G10 L80 P5525 Q1
+M146 P0 L1028
+M144
+G91 G0 Y100 F30
+G04 P0.1
+G90 G10 L70 P0 Y0
+G04 P0.1
+M145 P0 L1028
+G90 G10 L193 P97 Q5531
+debug #98
+G90 G10 L192 P98 Q7525
+debug #98
+debug #97
+G90 G10 L190 P97 Q98
+debug #97
+G90 G28.9 Y97 F200
+M146 P0 L1028
+G90 G10 L70 P0 Y0
+G90 G10 L80 P5521 Q0
+G90 G10 L80 P5525 Q0
+G90 G10 L80 P7395 Q0 (Homing Flag)
+</code>
+<code c M144.plc>
+//Look after input1 & input2 sensors, remember position, when triggered
+main()
+{
+timer=0;
+message=PLCCMD_MOTION_CONTINUE;
+texit=timer+2;do{timer++;}while(timer<texit);
+ready=0;
+state1=0;
+state2=0;
+e9000=portget(13);//gvarget(9000);
+e9001=portget(14);//gvarget(9001);
+state0=0;
+m1=0;
+m2=0;
+do
+{
+ timer++;
+if (state0==0)
+{
+ a=portget(13);//gvarget(9000);
+ if (a!=e9000)
+ {
+		m1=1;
+		position1=gvarget(5021+1);	//Machine Y
+state0=1;
+ };
+ a=portget(14);//gvarget(9100);
+ if (a!=e9001)
+ {
+		m1=2;
+		position1=gvarget(5021+1);	//Machine Y
+state0=1;
+ };
+}else
+{
+if (m1==2)
+{
+ a=portget(13);//gvarget(9000);
+ if (a!=e9000)
+ {
+		m2=1;
+		position2=gvarget(5021+1);	//Machine Y
+state0=2;
+ };
+}else
+{
+ a=portget(14);//gvarget(9100);
+ if (a!=e9001)
+ {
+		m2=2;
+		position2=gvarget(5021+1);	//Machine Y
+state0=2;
+ };
+};
+};
+}while(state0<2);
+b=position1-position2;
+if (b>25000)
+{
+b=50000-b;
+};
+c=0-25000;
+if (b<c)
+{
+b=50000+b;
+};
+gvarset(97,b);
+texit=timer+30;do{timer++;}while(timer<texit);
+gvarset(7230,m1);
+if (m1==1) { gvarset(98,1);}
+else { x=0-1; gvarset(98,x);};
+message=PLCCMD_MOTION_SKIP;
+//message=PLCCMD_MOTION_SOFT_SKIP;
+texit=timer+2;do{timer++;}while(timer<texit);
+exit(99);
+};
+</code>
+<code c M145.plc>
+#define var_address var00
+#define var_value   var01
+main()
+{
+	timer=0;
+	lparam=eparam>>16;
+  axis=1;     //
+	n=gvarget(7230);
+	channel=0xff;
+	if (n==1) {channel=0;};
+	if (n==2) {channel=1;};
+	if (n==4) {channel=2;};
+	if (n==8) {channel=3;};
+	if (channel>8)
+	{
+	message=PLCCMD_MOTION_ABORT;
+	texit=timer+2;do{timer++;}while(timer<texit);
+	exit(99);
+	};
+	var_value=15;
+	var_address=112+channel;//channel turn off
+	message=PLCCMD_SET_CNC_VAR;
+	texit=timer+2;do{timer++;}while(timer<texit);
+	exit(99);
+};
+</code>
+<code c M146.plc>
+#define var_address var00
+#define var_value   var01
+main()
+{
+	timer=0;
+  dir=0;
+  axis=1;
+  channel=0;
+	var_address=112+channel;//channel 0 set up
+	var_value=axis;
+	if (dir!=0) {  var_value=16+axis;  };
+	message=PLCCMD_SET_CNC_VAR;
+	texit=timer+10;do{timer++;}while(timer<texit);
+  channel=1;
+	var_address=112+channel;//channel 0 set up
+	var_value=axis;
+	if (dir!=0) {  var_value=16+axis;  };
+	message=PLCCMD_SET_CNC_VAR;
+	texit=timer+10;do{timer++;}while(timer<texit);
+	gvarset(7230,1);
+	exit(99);
+};
 </code>
-<code c></code>
-<code c></code>
-<code c></code>
-<code c></code>