Analog Position Output

B100					//Clear existing program banks
L100					//Clear existing logic banks

K34=00					//Set Output 2 as analog output
K85=1					//Run logic bank 1 on power up
K87=1					//Logic bank scan time of 1ms
 

var Px		V1.1		//Variable V1 is named Px (current Position)
V1.1="Px"				//V1 is set to the current motor position

V2.1="AO2"				//V2 is set to the analog output value

V5.1=0					//V5 is used as an accumulator in the calculations	
 
var offset	V6.1		//Variable V6 is named (used in calculations)
V6.1=0					//V6 is an offset in the event of negative position values
 
var P_Max	V4.1		//Variable V4 is named P_Max (maximum position value)
P_Max=5000				//Set max position to 1000
 

var P_Min	V3.1		//Variable V3 is named P_Min (minimum position value)
P_Min=-5000				//set min position to 0

N1.1=-1					//constant used in calculation

L1						//Logic bank 1
V5.1=P_Max-P_Min;		//Subtract min position from max position to find range
P_Min<0,CL2,offset=0;	//If the minimum position is negative, call logic bank 2, otherwise set the offset to 0
V5.1=V5.1/256;			//Scale the range to the range of the analog output
V5.1=Px/V5.1;			//Scale the output to the current position value
V5.1=V5.1+V6.1;			//Add the offset to the current calculated value
V5.1>255,V5.1=255,T0;	//If the value is above the analog range, set the analog output to max
V5.1<0,V5.1=0,T0;		//If the value is below the analog range, set the analog output to 0
V2.1=V5.1; 				//Set analog output to the calculated value
END.1

L2						//L2 is used to scale the offset value in the event of negative positions
offset=V5.1/256;		
offset=P_Min/offset;	
offset=offset*N1.1;
End.1
$						//save program to EEPROM