PROGRAM
'Program 0
'TODO: edit your program here

' Set the hardware limit deceleration to be very high.

 hldec X 1000
 set bDisableDriveOnKill
 
 while(BIT bDriveMotionProgram)
 
'Wait for the flag to be set that tells us we're ready to move 	
	while (NOT BIT bActuatorMove)
	wend
 	
' Now make sure that the E-Stop is clear

	if (BIT bEStopClear and BIT bProgTwoRunning)
'Turn on the drive and turn off the jog profile

		drive on X
		dwl 0.2
		jog off X
	
' Set up the jog profile and reset the counter

		jog vel X 40
 		jog acc X 20
 		jog dec X 40
		jog jrk X 40
		jog ren X
 			
 		if (BIT bOpenCmd)
' If we're trying to open, drive that way first until we hit the limit.
			if (BIT bEStopClear and BIT bActuatorMove and BIT bProgTwoRunning)
				clr bKillAllMovesZero
	 			clr bKillAxisZero
				jog rev X
	 			inh - bAxisZeroJogActive
	 		endif
	 			
' Now, for repeatability, drive back out 5mm
			if (BIT bEStopClear and BIT bActuatorMove and BIT bProgTwoRunning)
	 			jog vel X 5
	 			clr bKillAllMovesZero
	 			clr bKillAxisZero
	 			jog inc X 5
	 			inh - bAxisZeroJogActive
	 		endif
	 			
		else
' We're trying to close, so drive slowly that direction until we hit the limit
			if (BIT bEStopClear and BIT bActuatorMove and BIT bProgTwoRunning)
				clr bKillAllMovesZero
	 			clr bKillAxisZero
 				jog fwd X
 				inh - bAxisZeroJogActive
 			endif

' Now, for repeatability, drive back out 5mm
			if (BIT bEStopClear and BIT bActuatorMove and BIT bProgTwoRunning)
	 			jog vel X 5
	 			clr bKillAllMovesZero
	 			clr bKillAxisZero
	 			jog inc X -5
	 			inh - bAxisZeroJogActive
	 		endif
	 			
 		endif
	 	
'Now when we get here, we're just outside the limit.
'Drive slowly until we reach the limit.  This guarantees that the limit comes on at the
'next power-up so we'll be in a well-determined location

		if (BIT bEStopClear and BIT bActuatorMove and BIT bPosLimitClear and BIT bNegLimitClear and BIT bProgTwoRunning)

'Set up for a slow jog move and make sure the axes are enabled			
			jog vel X 5
 			jog acc X 20
	 		jog dec X 40
 			jog jrk X 40
 			
 			clr bKillAllMovesZero
	 		clr bKillAxisZero
	 		
	 		if (BIT bOpenCmd)
' We're trying to open, so go that way
				jog rev X
			else
' We're trying to close, so go that way
				jog fwd X
			endif
'Wait for it to finish			
			inh - bAxisZeroJogActive
	 		
	 	endif
	 	
	 	jog res X
 		drive off X
 	endif

	clr bActuatorMove
	set bMoveComplete
 wend
 
 clr bDriveMotionProgram


ENDP