Motion 02 — Index conveyor

Briefing

An indexing belt moves product one station at a time. An encoder on the drive roller sends one ENC_PULSE for every 10 mm of belt travel. Tap START and the belt moves exactly one index, 150 mm. Then it stops and DWELL_LAMP lights for 1.5 seconds while the station works on the part. When the dwell is over the lamp goes off and the machine waits, belt stopped, for the next START. The next index must be 150 mm again, so the count has to begin from zero every time. START pressed while indexing or dwelling does nothing. STOP aborts an index or a dwell and switches everything off. The INDEXING and DWELL bits, the counter and the timer are declared for you.

Objectives

• START runs the belt for exactly one 150 mm index
• At 150 mm the belt stops and DWELL_LAMP lights
• The dwell lasts 1.5 s, then the lamp goes off and the machine waits
• The second index is also exactly 150 mm
• START is ignored while busy; STOP aborts an index or a dwell

I/O Table

Your program will be tested against:

All test cases run automatically when you submit. Assertions are hidden until you pass.

1. #1Tap START → belt runs, dwell lamp off

   A momentary START begins an index

2. #2After 2.4 s (about 120 mm) → still indexing

   The count has not reached one index yet

3. #3After 3.5 s → belt stopped on the 150 mm mark, dwell on

   Fifteen pulses end the move and start the dwell

4. #4After 4.2 s → still dwelling

   The dwell lasts 1.5 s

5. #5After 5.0 s → dwell over, machine waiting

   The dwell ends by itself and nothing restarts

6. #6STOP during the index → belt off and stays off

   STOP aborts the index

7. #7START during the index and during the dwell → one index only

   START is only accepted when the machine is idle

8. #8A second START → another 150 mm, ending on the 300 mm mark

   The count restarts from zero for every index