HEADING:LINEAR MOTOR ALIGNMENT ROUTINE


STEP
  1   LET  DUM 4 = 00
  2   LET  DUM 3 = 2.00000E+00
  3   LET  DUM 1 = 00
  4   LET  SPD 1 = SPD 5
  5   LET  POS 1 = POS 5
  6   LET  POS 2 = POS 6
  7   PRIN  ""
  8   PRIN  "PRESS LOAD POSITION TO CONTINUE"
  9   PRIN  ""
 10   PRIN  "          STEPS 23-28"
 11   MOVE   POS 1  SPD 1
 12   XFER   DEV 3  REG 10  MASK 0  BRAN 14
 13   GOTO  STEP 12
 14   IF  DUM 4 = 1.00000E+00 THEN   GOSU  STEP 60
 15   MOVE   POS 2  SPD 1
 16   XFER   DEV 3  REG 10  MASK 0  BRAN 18
 17   GOTO  STEP 16
 18   IF  DUM 4 = 1.00000E+00 THEN   GOSU  STEP 60
 19   GOTO  STEP 20
 20   LET  REG 10 = 00
 21   XFER   DEV 1  REG 10  MASK 0  BRAN 0
 22   IF  REG 10 > 01 THEN   GOTO  STEP 25
 23   IF  DUM 3 = 00 THEN   GOTO  STEP 20
 24   GOTO  STEP 11
 25   XFER   DEV 2  REG 11  MASK 0  BRAN 0
 26   LET  DUM 3 = 1.00000E+00
 27   LET  DUM 1 = DUM 1 + 1.00000E+00
 28   IF  DUM 1 = 2.00000E+00 THEN   GOTO  STEP 40
 29   IF  DUM 1 = 3.00000E+00 THEN   GOTO  STEP 44
 30   IF  DUM 1 = 4.00000E+00 THEN   GOTO  STEP 55
 31   IF  DUM 1 = 5.00000E+00 THEN   GOTO  STEP 49
 32   IF  DUM 1 = 6.00000E+00 THEN   GOTO  STEP 1
 33   PRIN  "          STEPS 29-34"
 34   HOME
 35   LET  POS 1 = POS 3
 36   LET  POS 2 = POS 4
 37   LET  SPD 1 = SPD 3
 38   LET  SPD 2 = SPD 4
 39   GOTO  STEP 11
 40   GOTO  STEP 41
 41   PRIN  "          STEPS 36-41"
 42   LET  DUM 3 = 00
 43   GOTO  STEP 20
 44   PRIN  "          STEPS 42-43"
 45   LET  POS 1 = POS 12
 46   LET  POS 2 = POS 13
 47   LET  SPD 1 = SPD 7
 48   GOTO  STEP 11
 49   PRIN  "          STEPS 46-52"
 50   LET  POS 1 = POS 10
 51   LET  POS 2 = POS 11
 52   LET  SPD 1 = SPD 10
 53   LET  DUM 4 = 1.00000E+00
 54   GOTO  STEP 11
 55   PRIN  "          STEPS 44-45"
 56   LET  POS 1 = POS 5
 57   LET  POS 2 = POS 6
 58   LET  SPD 1 = SPD 7
 59   GOTO  STEP 11
 60   LET  DUM 10 = 00
 61   LET  DUM 10 = DUM 10 + 1.00000E+00
 62   IF  DUM 10 > DUM 11 THEN   GOTO  STEP 64
 63   GOTO  STEP 61
 64   EXIT
DEV
  1   06564
  2   06561
  3   06404
REG
  1   00
  2   00
  3   00
  4   00
 10   01
 11   00
POS
  1   -8000, -8000
  2   8000, 8000
  3   -800, -800
  4   800, 800
  5   -8000, -8000
  6   8000, 8000
 10   -6000, -6000
 11   8000, 8000
 12   -8000, 0
 13   8000, 0
DUM
  1   0.00000E+00
  2   0.00000E+00
  3   2.00000E+00
  4   0.00000E+00
 10   2.51000E+02
 11   2.50000E+02
SPD
  1   1.00000E+01, 1.00000E+01
  2   1.00000E+00, 1.00000E+00
  3   1.00000E+00, 1.00000E+00
  4   1.00000E+00, 1.00000E+00
  5   1.00000E+01, 1.00000E+01
  7   4.00000E+01, 4.00000E+01
 10   1.60000E+03, 1.60000E+03