Gemini GV6K and Gemini GT6K Programmer's Guide

Step 2
Define the SETUP Subroutine. The SETUP subroutine need only run once.
DEF SETUP
1INFNC1-M
JOYVH3
JOYAXH1-9
VAR1=Ø
VAR2=Ø
DRIVE1
MA1
END
; Begin definition of the subroutine called SETUP
; Assign digital input 1 on SIM 2 (I/O point #1) of
; I/O brick 1 to function as a "Joystick Release" input.
; Set the maximum velocity (3 units/sec)
; achievable when the joystick is at full
; deflection
; Assign ANI input 1 on SIM 2 (I/O point #9) of I/O
; brick 1
; Initialize variable #1 equal to zero
; Initialize variable #2 equal to zero
; Enable the drive
; Enable the absolute positioning mode
; End definition of the subroutine called SETUP
Step 3
Define the TEACH Subroutine.
DEF TEACH ; Begin definition of the subroutine called TEACH
HOM1
; Home the axis (absolute position counter is set to
; zero after the homing move)
DATPTR1,1,1 ; Select data program #1 (DATP1) as the current active
; data program, and move the data pointer to the first
; data element. After each DATTCH value is stored to
; DATP1, increment the data pointer by 1 data element.
REPEAT
; Set up a repeat/until loop
JOY1
; Enable joystick mode. At this point,
; you can start moving into position with the
; joystick. WHILE USING THE JOYSTICK, COMMAND PROCESSING
; IS STOPPED HERE UNTIL YOU ACTIVATE THE JOYSTICK
; RELEASE INPUT. Activating the joystick release input
; disables the joystick mode and allows the subsequent
; commands to be executed (assign the current positions
; to the variables and then store the positions in the
; data program).
VAR1=1PM ; Set variable #1 equal to the position of motor 1
DATTCH1 ; Store variable #1. (The first time through the
; repeat/until loop, variable #1 is stored into data ;
;element #1. The data pointer is automatically
; incremented once after each data element and ends up
;pointing to the third data element in anticipation of
;the next DATTCH command.)
WAIT(1IN.1=b1) ; Wait for the joystick release input to be de-activated
UNTIL(DPTR=1) ; Repeat the loop until the data pointer wraps around
; to data element #1 (data program full)
END
; End definition of the subroutine called TEACH
Chapter 3. Basic Operation Setup 113