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
Captured Position Command
Cam.CapturedPositionCommand
The follower commanded position captured when the current running cam table was initiated. If the cam is not running it is the
"Position Command" when the cam was exited (by stop, suspend, or normal completion).
Captured Position Feedback
Cam.CapturedPositionFeedback
The follower feedback position captured when the current running cam table was initiated. If the cam is not running it is the
"Position Feedback" when the cam was exited (by stop, suspend, or normal completion).
Captured Time
Cam.CapturedTime
Time the current running cam table was initiated. If the cam is not running it is the time when the cam was exited (by stop,
suspend, or normal completion).
Command Complete
Cam.CommandComplete
This pararmeter is active when any cam motion command is completed. If a stop is activated before the cam has completed,
this parameter will not activate. This parameter is deactivated when any cam command is initiated.
Commanding Motion
Cam.CommandingMotion
This source is active (on) when any Cam table is executing. Note this source may be on even when no physical motor motion
is occurring. For example the master may not be moving, but the follower is still considered to be in a Commanding Motion
state.
Stop Decel Enable Check Box
Cam.DecelEnable
When the check box is selected (activated) the Cam.StopDecel parameter is used when Cam.Stop and Cam.Suspend
commands are activated.
Resume
Cam.Resume
Resumes the cam execution from a Cam.Suspend command (or SetCamMasterOffset(MasterPosn), or
SetCamFollowerOffset(FollowerPosn). The cam points are all relative to the start of the Cam table. On Cam.Resume the
current physical position becomes the cam start point and the cam aligns it’s resume position to the current physical position
without any physical movement. This means if you suspend a cam and move the physical position; for example with a Jog,
you will need to position the motor back to the desired position before resuming.
Cam.Resume will be ignored if executed without Cam.ResumeAvailable set.
Resume Available
Cam.ResumeAvailable
Indicates that the cam is in a state where it will accept the Cam.Resume command. The cam can be resumed after executing
a Cam.Suspend, SetCamMasterOffset(masterPosn), or SetCamFollowerOffset(FollowerPosn). Cam.Resume will be ignored
if executed without Cam.ResumeAvailable set.
This source is active when a cam Resume is available.
To alter the pattern a program is run concurrently with the cam motion and the Cam.#.ForwardChain and
Cam.#.BackwardsChain are changed on the fly to alter the motion pattern. To get even more flexibility you can dynamically
alter the cam data table itself with the cam[t,e]xxx commands. You can even alter the size of the table.
Accepts Motion Modifiers Action
Cam[table,element].Master= Writes to a cam table’s master value
Cam[table,element].Follower= Writes to a cam table’s follower value
Cam[table,element].Interpolation=
Writes to a cam table’s master value. There is no range checking of interpolation until
cam execution. If the cam type does not support Interpolation, a parm not found fault
is generated
= Cam[table,element].Master Reads the cam table’s master value