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
Position Feedback
PosnFeedback
Feedback position is the actual motor position in user units. PosnCommand minus the PosnFeedback is the FollowingError
Position Feedback In Counts
PosnFeedbackInCounts
Motor encoder position in encoder counts since power up. This position reflects the feedback position of the motor and is not scaled into user
units. It can be used to confirm the exact position of the motor in applications where precise positioning is required.
Position Error Integral Enable
PosnIntegralEnable
This parameter is used to enable the position error integral compensation. See also Position Error Integral Time Constant.
Power Stage Enabled
PowerStageEnabled
This source (output function) is active when the drive's power stage is enabled.
Power Up Count
PowerUpCount
Number of times the drive has been powered up since it was manufactured.
Power Up Time
PowerUpTime
Time elapsed since the drive was last powered-up. The units is hours.
Accelerating
Profile.#.Accelerating
This source will be active when the motion being run on the specified profile is accelerating to its programmed velocity. When the motion has
reached its programmed velocity, this function will deactivate. This allows the user to see when any motion being run on this profile is
accelerating rather than having to monitor each motion object individually.
At Velocity
Profile.#.AtVel
This source is active when the motion being run on the specified profile is running at the programmed velocity. This function will activate after
the acceleration ramp is completed, and before the deceleration ramp begins. This allows the user to see when any motion being run on this
profile is at its programmed velocity rather than having to monitor each motion object individually.
Command Complete
Profile.#.CommandComplete
This source activates when the commanded motion for a motion object running on the specified profile is completed. The function will remain
active until the next motion is initiated on the same profile. If the MotionStop of the Stop function is used to stop the motion running on the
specified profile, the CommandComplete will not activate. The CommandComplete does not activate after a stop because the motor may not
be in the desired end position of the motion. This allows the user to see when any motion being run on this profile is complete rather than
having to monitor each motion object individually.
NOTE
Activation of the CommandComplete signal does not mean that the motor is no longer moving. If there is any following error at the end of the
motion, the CommandComplete will turn on before the actual motor motion is stopped.
Command In Progress
Profile.#.CommandInProgress
This source is active while any motion is being commanded on the specified profile. This function is active during all segments of a motion
(Accel, AtVel, and Decel). This function will deactivate when the CommandComplete signal activates. The CommandInProgress signal can be
active without actual motor movement if the master encoder stops during gearing or synchronized motion. This allows the user to see when
any motion being run on this profile is in progress rather than having to monitor each motion object individually.