It does not mean much without a functional diagram and
schematics, but, if you were interested in what a finished
IPOS program looks like, here is one example.
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Initialize interrupt as M1, on error
SETINT ERROR M1
Initialize variables
Run Ramp, Run Speed
SET H321 = 4000
SET H322 = 4000
SET H323 = 3000
SET H324 = 3000
SET H325 = 4000
SET H326 = 4000
SET H327 = 3000
SET H328 = 3000
Jog Ramp, Jog Speed
SET H329 = 800
SET H330 = 800
SET H331 = 3000
SET H332 = 3000
Jog Increment - CCW
SET H333 = 300
Jog Increment - CW
SET H334 = 300
SET H313 = 11500
SET H314 = 73500
SET H315 = 12000
MAIN LOOP START
If command not requested, see if JOG CW…
M9 :JMP LO I0000000000001000, M2
SET H320 = 0
BMOV H320.0 = H473.7
WAIT 500 ms
JMP H320 == 1 , M3
JMP UNCONDITIONED , M2
M3 :CALL M4
JOG CCW
If JOG CCW not requested, see if JOG CW
M2 :JMP LO I0000000000000010, M5
CALL M6
JOG CW
If JOG CW not requested, end to HOUSEKEEPING
M5 :JMP LO I0000000000000100, M7
CALL M8
HOUSEKEEPING,
Then go back to MAIN LOOP START
M7 :BMOV H481.2 = H483.4
JMP UNCONDITIONED , M9
JUMP Areas
- - - - - -
M4 = Move command
M4 :ASTOP IPOS ENABLE
SETSYS POS. RAMP = H321
SETSYS POS.SPEED C(C)W = H323
BMOV H481.2 = H483.4
SET H319 = H314
GOR NOWAIT H319
SET H316 = H492
SUB H316 - H315
M10 :JMP H511 < H316, M10
SETSYS POS. RAMP = H325
SETSYS POS.SPEED C(C)W = H327
M12 :JMP HI I0000000000010000, M11
JMP NOT IN POSITION, M12
M11 :ASTOP RAPID STOP
WAIT 100 ms
SET H492 = 0
SET H511 = 0
Stopped on proximity switch, or on counts.
NOW, move a ‘little more’, to engage the position verification proximity switch
GOR NOWAIT #200 inc
ASTOP IPOS ENABLE
RET
M6 = Jog CCW
M6 :JMP LO I0000000000000010, M13
JMP HI I0000000000000100, M13
SETSYS POS. RAMP = H329
SETSYS POS.SPEED C(C)W = H331
GETSYS H317 = ACT.POSITION
ADD H317 + H333
ASTOP IPOS ENABLE
GOA NOWAIT H317
BMOV H481.2 = H483.4
JMP UNCONDITIONED , M6
M13 :ASTOP TARGET POSITION
BMOV H481.2 = H483.4
RET
M8 = Jog CW
M8 :JMP LO I0000000000000100, M14
JMP HI I0000000000000010, M14
SETSYS POS. RAMP = H329
SETSYS POS.SPEED C(C)W = H331
GETSYS H318 = ACT.POSITION
SUB H318 - H334
ASTOP IPOS ENABLE
GOA NOWAIT H318
BMOV H481.2 = H483.4
JMP UNCONDITIONED , M8
M14 :ASTOP TARGET POSITION
BMOV H481.2 = H483.4
RET
M1 = Error trap
M1 :JMP LO I0000000000100000, M1
RET
END