'-------------- Device Params -----------------------
Params
End Params

'-------------- Define (dim) Global Variables --------
Dim startbutton as integer
Dim targetposition as integer
Dim speed1 as integer
Dim accel as integer
Dim decel as integer

MBInfo 'map variables to user defined Modbus registers
$MBMap32(5000, targetposition) 'Modbus registers 5000 and 5001 for targetposition, 32bit
$MBMap16(5002, startbutton) 'Modbus register 5002 for start, 16bit
$MBMap32(5003, speed1) 'Modbus registers 5003 and 5004 for speed1, 32bit
End
'-------------- Main Program -------------------------
Main
DRV.SWENABLE = 0 'turn off software enable
startbutton = 0 'initial startbutton value=0

'Set default values
targetposition = 1000 'distance in user units
speed1 = 200 'speed of move to targetposition, in user units
accel = 1000 'acceleration of move to targetposition, in user units
decel = 1000 'deceleration of move to targetposition, in user units

Move.Acc = accel  ' Acceleration (drive units)
Move.Dec = decel  ' Deceleration (drive units)

DRV.SWENABLE = 1 'turn on software enable

While DRV.ACTIVE = 0 : Wend 'wait for hardware and software enable

While 1 = 1 'start continuous loop

While DRV.HWENABLE = 0  : Wend 'wait for hardware enable to be active
While startbutton = 0 : Wend 'wait for startbutton command over Modbus
Move.RunSpeed = speed1
Move.TargetPos = targetposition
Move.GoAbs
'Print "moving"
While MOVE.MOVING = 1 : Wend 'wait for move to complete
'Print "finished moving"
startbutton = 0 'reset start trigger

Wend 'loop back to While 1=1
End Main

'-------------- Subroutines and Functions ------------

'-------------- Interrupt Routines -------------------