Robotino® View2 - Festo Didactic

Examples
28
Every 200ms the Arbitrary Waveform Generator creates a pulse of 100ms width and height 1. The
settings for the Arbitrary Waveform Generator are shown below.
I.e. every 200ms there is a rising edge from 0 to 1. With every rising edge the counter increments its
value by 1. After 2s the value will be 10. When the value of the counter is 10, the result of the
comparison of the constant and the counter's value will be added to the current value of step2Count.
As long as the comparision results in false, 0 is added. As soon as the comparision results in true,
1 is added. At the end of every calculation step of the sub-program, the transition condition below
the step in the main program is evaluated. When the global variable "timer" has the value 10, the
sub-program will be left.
The sub-programs of Step3 and Step4 are built equivalently. Select all in Step2 (Ctrl+A) and copy it
to Step3 and Step4. The only difference consists in the fact that step3count respectively step4count
are read and written.
Once you start the main program, Step2, Step3 and Step4 will be executed cyclically for 2s each.
Create and program Step5
© Festo Didactic GmbH & Co. KG