Control Techniques Epsilon EP-P, Reference Manual

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Epsilon EP-P Drive Reference Manual
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Revision A4 www.controltechniques.com
Jog.Stop ‘Decelerate to a stop
Endif
Loop
Rotary Table with “Calibrated” Stop Positions
Home the axis, wait for an input and then index to 3 different stop positions (absolute positions), wait for an input between
indexes. The InPosn output function could be assigned to an output to indicate when the axis has completed the index and the
following error is less than a specified amount. Since the indexes are to absolute positions they can be adjusted to “calibrate”
the stop positions to account for mechanical non-linearity in the particular rotary table. A rollover position of 360.00 degrees
would be entered into the setup view so that the system would take the shortest path (across the rollover) during the last
move.
Home.0.Initiate ‘Sensor,Offset=0.0deg/s,Vel=-1000deg/s
Do While (TRUE) ‘Repeat until the program is halted
Wait For DriveInput.1=ON ‘DriveInput.1 is the “Go” input
Index.2.Initiate ‘Absolute,Dist=120.07deg,Vel=1000deg/s
Wait For InPosn
Wait For DriveInput.1=ON
Index.3.Initiate
‘Absolute,Dist=239.95deg,Vel=1000deg/s
Wait For InPosn
Wait For DriveInput.1=ON
Index.1.Initiate
‘Absolute,Dist=0.03deg,Vel=1000deg/s
Wait For InPosn
Loop
Flying Cutoff/Shear
Flying cutoff or flying shear application to perform synchronized out and return indexes which repeat every 100 inches of
master travel.
Part Length = 100 inches
Knife Travel Distance = 20 inches
PLS.0 is used to initiate Index.0 every 100 inches. PLS.0 has an “ON” point at 0.000 inches and an “OFF” point at 90.000
inches. PLS.0 has a rollover position of 100.000 inches. The rollover position is used to set the part length. The source for
PLS.0 is the master axis. The PLS is configured in the PLS view. The PLS output does not necessarily need to be connected
to an output line on the drive because it is used within the program to initiate an index.
An Index PLS is used to fire the cutoff knife. The Index PLS is connected to Output #1 on the drive. The Index PLS is
configured in the index setup view. The Index PLS for Index.1 has an “ON” point 2.000 inches into the index and an “OFF”
point 18 inches into the index.
Home.0.Initiate ‘Sensor,Offset=1.000in,Vel=-5.0 in/s
MasterAxis.DefineHome=ON ‘Set the master position to 0.0
PLS.0.Enable=ON ‘Turn on PLS.0
Do While (TRUE) ‘Repeat until the program is halted
Wait For DriveInput.1=ON ‘Input 1 is used as a “hold” input.
If PLS.0.Status = ON Then ‘If the PLS is already on you are too late.
DriveOutput.4=ON ‘Set a “Too Late” output
End ‘Drop out of the program
Endif
Wait For PLS.0.Status=ON
‘Start the Index when PLS.0 goes on
‘(every 100 inches).
Index.1.Initiate ‘Incremental,Sync,Dist=20.0in,Vel=1.0in/in
Index.0.Initiate ‘Absolute,Sync,Dist=0.0in,Vel=2.0in/in
Wait For Index.AnyCommandComplete
Loop
Synchronized Jog with Manual Phase Adjustment
The motor controls a lugged conveyor belt which is synchronized to another lugged conveyor belt. Jog.0 is configured as a
“Synchronized” jog using the setup software. The program first homes the follower and then waits for an input from a sensor
on the master axis lugs. When the input comes on the follower starts the synchronized jog. If the home is setup correctly the
follower will be in perfect phase when it gets up to speed. If the follower gets out of phase with the master the operator can
manually bring the it back into phase using “Advance” and “Retard” inputs. The program adjusts the phase of the follower axis
by adjusting the jog velocity (Jog.0.Vel) when the operator hits one of the phasing inputs.
Home.0.Initiate ‘Sensor,Offset=2.25in,Vel=10in/s