Control Techniques Epsilon EP-P, Reference Manual

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Epsilon EP-P Drive Reference Manual
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www.controltechniques.com Revision: A4
Figure 116: Profile View - Online
The following example program code runs Index 0 on Profile 0, Wait for 1 second, and then initiate Index 1 on Profile 1. The diagram shows
how the two profiles look individually, and then shows how the motion looks after being summed by the two profiles.
Index.0.Initiate
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Wait For Time 1.00 ‘Seconds
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Index.1.Initiate On Profile.1
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Wait For Index.1.CommandComplete
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DriveOutput.1 = ON
If using the “On Profile” command on the same line of code as the “Using Capture” command, “Using Capture” should precede the “On Profile”
command. Below are example lines of program code that initiate indexes on different profiles using captured data for the starting point.
Initiate Index 1 on Profile 0 using data stored in Capture object 2 as the starting point.
Index.1.Initiate Using Capture.2
Initiate Index 3 on Profile 1 using data stored in Capture object 1 as the starting point.
Index.3.Initiate Using Capture.1 On Profile.1
3.41 Stopping Motion
3.41.1 MotionStop from a Program
The MotionStop command will cause all motion to stop regardless of what type of motion it is, or where it was initiated from. Upon activation of
the MotionStop, all motion will begin to decelerate to a stop using the standard Stop deceleration ramp. That ramp is defined using the
StopDecel parameter. MotionStop is a level sensitive command meaning that as long as it is active, all motion will be stopped and prevented
from running. When MotionStop is deactivated, all motion is permitted again. Any motion that is interrupted with the MotionStop command is
cancelled, and will not complete when MotionStop deactivates.
The MotionStop command DOES NOT stop any programs. All programs that are active when the MotionStop is activated will continue to run
as normal.
All motion stopped using the MotionStop command will stop using a realtime deceleration ramp (even if the timebase of the motion being
stopped is synchronized). This can help in applications that use synchronized motion if the master stops and then the user wishes to break out