[jeffserv]

Greetings,

Working of a program with Home Limit Input Bit 1034, Peddle for Go which is Input 1033, and Lower limit which is Input 1035.

This is for a simple punch machine control. Using Konnect board for I/O and three inputs.

When I push the peddle I want axis 2 to go down. When I let off the peddle it should stop.
This code below works... for this.
______________________________

#include "KMotionDef.h"

main()
{
for(;
{
if (!ReadBit(1033))
{
while (!ReadBit(1033));
Jog(2,-100);
}
if (ReadBit(1033))
{
while (ReadBit(1033));
Jog(2,0);
}

}
}

_________________________________________

Now I need to to stop this motion also if the lower input (1034) comes on. Then home to the upper input (1034).

I have tried to do this, but have had little luck with the code... and trying to add the other monitoring... Think I am just missing something?

Thanks in advance for any help?

- Jeff

[TomKerekes]

Hi Jeff,

Now I need to to stop this motion also if the lower input (1034) comes on. The home to the upper input (1034).

Is that a typo? Can you explain more clearly?

[jeffserv]

Tom,

Yes that was a typo! Go figure!!

See here for what I want to accomplish to start. This will get more complicated later, with a fast and slow speed input. Not worried about that yet!


Attachment 502902

[TomKerekes]

Hi Jeff,

A general way to handle multiple events using a single Thread is to use a State Machine, See the untested example below:

#include "KMotionDef.h"

// Press Brake control 

enum { IDLE, JOG_DOWN, DELAY, HOME };  // states

#define BIT_PEDAL 1033
#define BIT_NEG_LIMIT 1035
#define BIT_TOP_LIMIT 1034
#define BIT_AUTO 46

#define ZAXIS 0

#define DWELL 2.0 // delay at bottom seconds

void main()
{
    int state=IDLE;
    double DelayTime;
    
    for (;;)
    {
        switch (state)
        {
        case IDLE:
        if (ReadBit(BIT_PEDAL))
        {
            Jog(ZAXIS, -100);  // Jog down
            state = JOG_DOWN;
        }
        break;

        case JOG_DOWN:
        // stop Jogging down if pedal released and not Auto mode
        if (!ReadBit(BIT_PEDAL) && !ReadBit(BIT_AUTO)) 
        {
            Jog(ZAXIS, 0);  // Stop
            state = IDLE;
        }
        else
        {
            // hit negative limit?
            if (ReadBit(BIT_NEG_LIMIT))
            {
                Jog(ZAXIS, 0);  // Stop
                DelayTime = Time_sec() + DWELL;
                state = DELAY;
            }
        }
        break;

        case DELAY:
        if (Time_sec() > DelayTime)  // Dwell finished?
        {
            Jog(ZAXIS, 400);  // Begin Homing
            state = HOME;
        }
        break;

        case HOME:
        if (ReadBit(BIT_TOP_LIMIT))  // Homed?
        {
            Jog(ZAXIS, 0);  // Stop
            state = IDLE;
        }
        break;
        }
    }
}

[jeffserv]

Thanks so much!

I am getting something accomplished now! This is working!! Of course I will modify to the specifics according to the machine.
I will be using the the Kflop and Kanalog control boards to do this.
The program will have a couple of more inputs, for different modes or ways of operating the code sequencing.
The State Machine idea is a good thing. I like that.

Thanks - Jeff