Fire a Barcode with the Pulsing Unit

This example shows how to fire a barcode like pattern, configured in Fifo mode. The Pulsing Unit is documented in AN152.

The program doesn't depend on a specific axis unit, nevertheless it is designed for the example in mm.
The start position of the barcode is at 20mm.
The peripheral system is triggered with a pulse ON-time of 10us.
The gaps are pulsed with an ON-time of 0 seconds, which results in no pulse output.

The whole pattern consists of 2 rows with 5 sequences each. The second row is fired in reverse direction.

Axis_0 needs to be enabled to run this example

Program Description

Set the PU_ReferencePosition = 20, defining the start position of the first row.
Activate the Pulsing Unit by setting the PU_Mode = Fifo.
Fill in the first row by pushing each sequence to the FIFO with the command PU_FIFO = Append.

Sequence	1	2	3	4	5
PU_PulseWidth	0.00001	0	0.00001	0	0.00001
PU_DeltaPosition	0.1	0.1	0.1	0.1	0.1
PU_Count	8	13	21	26	31

Now the row is fired by moving the axis left to right (positive direction).
As soon as the first row is fired (check for PU_Count == PU_ActualPulseCount), a move with an other axis can be commanded to align to the next row.
Set a new reference position with the following steps.
1. Disable the mode by setting PU_Mode = Disabled.
2. Set the new start position for row 2 with PU_ReferencePosition = 20.3.
3. In the next cycle, activate the Pulsing Unit by setting the PU_Mode = Fifo.
Fill in the second row by pushing each sequence to the FIFO with the command PU_FIFO = Append. The sequence index restarts at 1 because the mode was reset.

Sequence	1	2	3	4	5
PU_PulseWidth	0.00001	0	0.00001	0	0.00001
PU_DeltaPosition	-0.1	-0.1	-0.1	-0.1	-0.1
PU_Count	5	10	18	23	31

Now the second row is fired by moving the axis right to left (negative direction).