'-------------- Device Params -----------------------
Params
	DRV.OPMODE = 2'position operation mode
	DRV.CMDSOURCE = 5'command source = AKD BASIC TG
	UNIT.PROTARY = 4'16 bit position units, 65536 counts/rev
	UNIT.VROTARY = 0'velocity units = rpm
	UNIT.ACCROTARY = 0'acceleration units = rpm/sec
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
const MC = 8000'master counts in total cycle 
const NPOINTS = 501'number of points in cam profile 
const pi = 3.1415926535
const k = 0.69314718 / 100
const w = 1 / (15 * pi)

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

'Set default values
targetposition = 1016 'total distance, in 0.001mm
speed = 254 'speed of initial move to targetposition, in mm/s
accel = 1000 'mm/s^2
decel = 1000 'mm/s^2

Move.Acc = accel  ' Acceleration (drive units)
Move.Dec = decel  ' 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"
	Print "end of homing"
End If
Print "end if"
DRV.SWENABLE = 0 'disable the motor
Print "disabled"

'Generate a cam that does exponentially-damped sinusoidal 
	'motion and activate it. Please note that since we are computing 
	'500 points of slave profile here several seconds will elapse 
	'during the calculation of the cam table. 	
	call CamCreate_2
	call ActivateCam_2

'Print "wait 2 sec" 
'Pause (2)

While 1 = 1 : wend 'loops continuously

End Main

'-------------- Subroutines and Functions ------------
sub CamCreate_2'This code creates a cam whose profile is an exponentially damped sine wave. 
	dim m, s as float 
	dim i as integer 
	CAM.CREATE (2, 501)
		for i = 0 to NPOINTS-1
			m = i * (MC / (NPOINTS-1))'master position    
			s = (1 / exp (1 * k * i)) * sin (2 * pi * w * i)'computed slave position   
			CAM.ADDPOINT(m, 65536 * s)
			Print i
		next i
	end CAM.CREATE
end sub

sub ActivateCam_2
	'DRV.SWENABLE = 0' Need to disable the drive before changing positions
	EXTENCODER.POSMODULO = MC' Set master modulo value
	CAM.MASTER = 2'Cam Master = External Encoder
	EXTENCODER.POSITION = 0'set Master position to 0
	MOVE.POSCOMMAND = 0'set slave (AKD BASIC) position to 0
	PL.MODPEN = 1'Enable slave modulo
	PL.MODP2 = 65536'Set slave modulo value
	DRV.SWENABLE = 1' Enable drive
	Print "Motor Enabled"
	Cam.Activate = 2' Start the cam
	Print "CAM Enabled"
end sub
'-------------- 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