; Basic Rotary Position Sample Program, bi-directional 
; motion, no homing, +/- 8000 counts. 
; IMPORTANT: 1. For stable/best response, speed loop 
; (P72,73) and position loop (P79) must be tuned properly 
; for connected motor/load. 2. P5 can be increased as required
; for the application. Not to exceed the encoder frequency 
; limit of connected motor/encoder combination
; (or value in motor file). 3. P603 accel and P604 decel 
; limited by motor/drive/load.  
; created 2/11/03 by Tom Gianni, Bayside Motion Group

; Number Value  Parameter Description

5	1000	Maximum speed (see header note)
20	7	Display = position units
22	2	Input = digital inputs  
23	5	Control mode = positioning
24	1	Enable after power on
40	1	L5 = enable (need for P109 = 0)
41	24	L6 = start sequence command
42	0	L7 = none assigned
43	0	L8 = none assigned
44	0	L9 = none assigned
600	0	Position units = encoder counts (AqB)
603	200	Acceleration in RPM/sec
604	200	Deceleration in RPM/sec
620	9	Sequence control method
621	4	Sequence stop method
622	0	Torque hold mode
623	0	Position sequence first block
624	1	Position sequence last block
700	8000	Position reference 1 in counts
701	1000	Positioning velocity 1 in RPM
702	100	Position delay time 1 in sec i...idd
705	-8000	Position reference 2 in counts
706	1000	Positioning velocity 2 in RPM
707	100	Position delay time 2 in sec