Example to demonstrate a simple product burn-in tester. Sets up the device (the input/output polarity, general purpose I/O configuration, and values for I/O, as well as global motion control settings). This program then moves each of the three motors through their ranges of motion. The end point is the same as the start, allowing this script to be cycled indefinitely with an auto-control script.



' Test Setup

EO=0,OK

ABS,OK

POLX=168,OK

POLY=168,OK

POLZ=168,OK

POLU=168,OK

IOCFG=4294967295,OK

IO=4294967295,4294967295

ACC=10,OK

DEC=10,OK

LSPD=100,OK

EO=7,OK

CLRX,OK

CLRY,OK

CLRZ,OK

X0,OK

Y0,OK

Z0,OK


' Move gripper to Test location 1

HSPD=32000,OK

DELAYS

Z32000,OK

BTMASK=7,

REPEAT,

    MSTZ,

    RSAVE1,

UNTILM0,


'Load test

DELAY=10000


' Gripper test

Z83200,OK

REPEAT,

    MSTZ,

    RSAVE1,

UNTILM0,

DELAYL

MSTU,0


' Buffer test

HSPD=32000,OK

DELAYS

X122048,OK

REPEAT,

    MSTX,

    RSAVE1,

UNTILM0,

DELAY=4000


' Low speed buffer crush test

HSPD=448,OK

DELAYS

X128576,OK

REPEAT,

    MSTZ,

    RSAVE1,

UNTILM0,

DELAY=21000


' Home Buffer motor

HSPD=32000,OK

DELAYS

HX-0,OK

DELAYM

IO20=0,OK

DELAYS

IO20=1,OK

STOPX,OK

X-16000,OK

REPEAT,

    MSTX,

    RSAVE1,

UNTILM0,

DELAY=16000


' Swing axis

HSPD=32000,OK

DELAYS

Y117792,OK

REPEAT,

    MSTY,

    RSAVE1,

UNTILM0,

DELAY=4000


' Low speed swing test

HSPD=448,OK

DELAYS

Y122240,OK

REPEAT,

    MSTY,

    RSAVE1,

UNTILM0,

DELAY=50000


' Reset to next test

HSPD=32000,OK

DELAYS

Y-16000Z-16000,OK

REPEAT,

    MSTZ,

    RSAVE1,

UNTILM0,

DELAYL