Peripheral mySer As ServoRunnerA @ 0 ' Set the module To be operated As 0.
' Set the module ID As 0. Note: The module number must be set To
'0 Or 1 To use the servomotor related command of the Servo Commander A.
Dim EventEnd As Byte ' Store the variable For determining the completeness of the event.
Dim i As Byte ' Store the Loop variable.
Dim SerStatus As Byte ' Store the Status of the Servo Motor.
Sub Main() ' Main subroutine
mySer.SetPosOffset(0, 0) ' Set the offset value of Servo0 As 0.
mySer.SetPosAndRun(0, 1500) ' Activate Servo0 To move To the position 1500.
Pause 1000 ' Pause a time interval For the servo motor To move To the target position.
mySer.SetPos(0, 2200) ' Set the target position of Servo0 As 2200.
mySer.SaveFrame(0) ' Store the motion of the currently indicated servo motor into Frame0.
mySer.Run1Servo(0) ' Allow Servo0 To start the motion.
Pause 500
mySer.SetPosSpdAndRun(0, 700, 1000) ' Activate Servo0 And Then move To the position 700 at a speed of 1000.
Pause 2000
mySer.SetPosTimeAndRun(0, 2200, 1000) ' Activate Servo0 And move To the position 2200 For a time interval of 1 second.
Pause 1000
EventEnd=0
mySer.SetPosTime(0, 700, 1000) ' Set Servo0 To move To the position 700 For a time interval of 1 second.
mySer.SaveFrame(1) ' Store the motion of the currently indicated servo motor into Frame1.
mySer.Run1ServoWithEventA(0) ' Activate Servo0 And generate EventA when it completes the operation.
Do
Pause 1
Loop Until EventEnd=1
' The following loop repeats to read the setting values in Frame0 and then activate Servo0 for operation.
' The position value stored in Frame0 is 2200. The position value stored in Frame1 is 700.
' Servo0 will move between these two positions back and forth 4 times.
For i=0 To 3
mySer.LoadFrame(1) ' Read the setting value stored In Frame1.
mySer.Run1Servo(0)
Pause 1000
mySer.LoadFrame(0) ' Read the setting value stored In Frame0.
mySer.Run1Servo(0)
Pause 1000
Next
mySer. SetPosAndRun(0, 1500)
' The following loop repeats to perform the operation of reading the Status.
' After the completion of the operation is confirmed, the loop will stop.
Do
mySer.Get1ServoReadyStatus(0, SerStatus) ' Read the status of Servo0 And Then store it In SerStatus.
Loop Until SerStatus>0
End Sub
Event mySer.ServoPosReadyEventA()
mySer.SetPosAndRun(0, 2200)
Pause 1000
EventEnd=1
End Event