Functions to make timed position ramps and dwells. For example as might be used in a blow moulding controller.

' Function library to support timed ramps

'

'Declare a universal value to hold the table index

DIM tab_index AS INTEGER

' Set up a linear TABLE

FUNCTION set_tab(index AS INTEGER, local_units AS FLOAT)

     DIM i, c AS INTEGER

     c = 0

     FOR i = index TO index + 10

          TABLE(i, c * local_units / 10)

          c = c + 1

     NEXT i

     tab_index = index

ENDFUNC

FUNCTION print_index()

     PRINT #0, tab_index

ENDFUNC

FUNCTION move_time(target_dist, ramp_time AS FLOAT)

     SPEED = 100 / ramp_time

     ACC(SPEED * 1000)

     CAM(tab_index, tab_index + 10, target_dist, 100)

ENDFUNC

FUNCTION dwell(d_time AS FLOAT)

     WA(d_time * 1000000 / SERVO_PERIOD)

ENDFUNC

Example program:

' For blow moulding applications, a sequnce is needed that ramps up an axis over a period of time

' then applies a delay before doing another ramp at a different set rate.

' The sequence is as follows:

' move_time(target_position1, ramp_time1)

' dwell(dwell_time1)

' move_time(target_position2, ramp_time2)

' dwell(dwell_time2)

' move_time(target_position3, ramp_time3)

' dwell(dwell_time3)

' The TrioBASIC command that fits a change in position over a set time is CAM.

' With a linear ramp in the TABLE, it will represent a move over time.

' setup the axis

BASE(10)

UNITS = 50

SERVO = ON

WDOG = ON

DEFPOS(0)

set_tab(100, UNITS)

TRIGGER ' start the scope

move_time(100, 2.5)

WAIT IDLE

dwell(1)

move_time(50, 3.25)

WAIT IDLE

dwell(1.5)

move_time(50, 2.0)

WAIT IDLE

dwell(1.5)

move_time(-200, 5.0)

WAIT IDLE