'-------------- Device Params -----------------------
Params
	DRV.OPMODE = 2 'position operation mode
	DRV.CMDSOURCE = 5 'command source = AKD BASIC TG
	UNIT.PROTARY = 3 '16 bit position units, 65536 counts/rev
	UNIT.VROTARY = 0 'velocity units = rpm
	UNIT.ACCROTARY = 0 'acceleration units = rpm/sec
	UNIT.PIN = 10000
	UNIT.POUT = 1
	PL.MODPEN = 1'Enable slave modulo
	PL.MODP2 = 10000'Set slave modulo value
	FB2.ENCRES = 8000 'set slave gearing input resolution
	EXTENCODER.POSMODULO = 8000 ' Set master modulo value
End Params

'-------------- Define (dim) Global Variables --------
Dim homefound as integer
Dim targetposition as integer
Dim speed as integer 'speed of initial move to sprayposition
Dim accel as integer 'acceleration for all moves
Dim decel as integer 'deceleration for all moves

MBInfo
End
'-------------- Main Program -------------------------
Main
DRV.SWENABLE = 0
homefound = 0

'Enable Interrupts
INTR.HWLS.POSSTATE = 1
INTR.HWLS.NEGSTATE = 1 'used for homing if home input not reached first
Intr.DRV.FAULTS = 1
'INTR.DISABLE = 1
INTR.DRV.HWENABLE = 1

Move.Acc = 1000  ' Acceleration (drive units)
Move.Dec = 1000  ' Deceleration (drive units)
While DRV.HWENABLE = 0  : Wend 'wait for hardware enable

DRV.SWENABLE = 1 'enable drive

'Homing, homing uses Input 3 to start homing and Input 4 for the position capture
If homefound = 0 Then 'If axis has not been homed, then ...
	Print "waiting for Input 3"
	While DIN3.STATE = 0 : Wend 'wait for the start home command
	'start the homing routine
	CAP0.MODE = 0 'standard position capture
	CAP0.TRIGGER = 3 'Use input 4 for position capture
	CAP0.EDGE = 1 'positive edge
	CAP0.EVENT = 0 'no pre-conditions must be met
	CAP0.EN = 1 'Start looking for the capture trigger
	MOVE.RUNSPEED = 254 'mm/s
	MOVE.DIR = 1 'negative direction
	MOVE.GOVEL 'start moving
	Print "waiting for Input 4"
	While CAP0.STATE = 0 : Wend 'wait for the capture to trigger, if hits neg limit switch then run interrupt
	Print "captured"
	MOVE.RUNSPEED = 0
	MOVE.GOVEL 'stop moving, zero speed
	While MOVE.MOVING = 1 : Wend 'wait for motion to stop
	MOVE.POSCOMMAND = (PL.FB - CAP0.PLFB ) 'set position to the difference between the actual position and captured position
	Pause (.2)
	MOVE.RUNSPEED = 50 'mm/s
	MOVE.TARGETPOS = 0
	MOVE.GOABS 'move back to the captured position
	Pause (1) 'this is the end of the homing routine
	homefound = 1 'set homefound tag
	Print "home found"
	DRV.SWENABLE = 0 'disable the motor
	Print "disabled"
End If

CAM.CREATE (1, 21)'allocate space for cam #1, 5 points 
'start the cam create block
Print "creating cam profile"
Cam.AddPoint(0,0)
Cam.AddPoint(400,10)
Cam.AddPoint(800,20)
Cam.AddPoint(1200,40)
Cam.AddPoint(1600,80)
Cam.AddPoint(2000,160)
Cam.AddPoint(2400,320)
Cam.AddPoint(2800,640)
Cam.AddPoint(3200,1280)
Cam.AddPoint(3600,2560)
Cam.AddPoint(4000,5120)
Cam.AddPoint(4400,7680)
Cam.AddPoint(4800,8960)
Cam.AddPoint(5200,9600)
Cam.AddPoint(5600,9920)
Cam.AddPoint(6000,10000)
Cam.AddPoint(6400,10000)
Cam.AddPoint(6800,10000)
Cam.AddPoint(7200,10000)
Cam.AddPoint(7600,10000)
Cam.AddPoint(8000,10000)
End Cam.Create 'the cam create block
Print "done"
CAM.MASTER = 2 'Cam Master = External Encoder
DRV.SWENABLE = 1 'enable the motor
Print "Motor Enabled, wait 2 sec" 
Pause (2)

'Wait to start the cam until seeing the EEO index pulse
CAP1.MODE = 0 'standard position capture
CAP1.TRIGGER = 9 'Use input 4 for position capture
CAP1.EDGE = 1 'positive edge
CAP1.EVENT = 0 'no pre-conditions must be met
CAP1.EN = 1 'Start looking for the capture trigger
Print "waiting for cap1"
While CAP1.STATE = 0 : Wend 'wait for the capture to trigger
EXTENCODER.POSITION = 0 'set Master position to 0
MOVE.POSCOMMAND = 0 'set slave (AKD BASIC) position to 0
CAM.ACTIVATE = 1 'activate cam #1
Print "CAM Enabled" 

While 1 = 1 : wend 'loops continuously

End Main

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

'-------------- Interrupt Routines -------------------
Interrupt HWLS.NEGSTATE
	If homefound = 0 Then 'move to the positive side of the home switch
		While MOVE.MOVING = 1 : Wend 'wait to stop moving
		MOVE.DIR = 0 'positive direction
		MOVE.RUNSPEED = 50 'mm/s
		MOVE.GOVEL 'start moving
		While DIN4.STATE = 0 : Wend 'wait to get on the home switch
		While DIN4.STATE = 1 : Wend 'find positive edge of home switch
		Pause (0.5)
		MOVE.RUNSPEED = 0
		MOVE.GOVEL 'stop moving, zero speed
		While MOVE.MOVING = 1 : Wend 'wait to stop moving
		CAP0.EN = 1 'Start looking for the capture trigger
		MOVE.DIR = 1 'negative direction
		MOVE.RUNSPEED = 50 'mm/s
		MOVE.GOVEL 'start moving
	ElseIf homefound = 1 Then
		Print "restarting"
		Restart
	End If
    INTR.HWLS.NEGSTATE = 1
End Interrupt

Interrupt HWLS.POSSTATE
	Print "restarting"
	Restart
End Interrupt

Interrupt DRV.HWENABLE
	Print "restarting"
	Restart
    Intr.DRV.HWENABLE = 1
End Interrupt

'Interrupt disable
'	Print "restarting"
'	Restart
'	INTR.DISABLE = 1
'End Interrupt

Interrupt DRV.FAULTS
	Print "restarting"
	Restart
End Interrupt