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
Master Polarity
Master Polarity (MasterAxis.Polarity) defines the direction of the master encoder that corresponds to a positive master position
change.
Master Interpretation
Master Interpretation (MasterAxis.Interpetation) determines how the incoming pulses are seen to generate the synchronized
motion command. This setting allows the user to choose the appropriate signal type to match the device generating the
master input pulses.
Drive Input Signal
Drive Input Signal is selected based on whether the incoming pulses are Differential (default) or Single Ended. Available only
when Sync Encoder Input is selected as the Master Source.
3.7.2 Sync Output Connector Group
Output Source
Output Source determines which signal will be sent to the 15-pin Analog/Sync Output connector on the drive. If Motor Encoder
(default) is selected, then the encoder signals from the motor that the drive is controlling will be sent out the Analog/Sync
Output connector. If Drive Encoder Input is selected, then the synchronization signals sent to the drives 9-pin Sync Input
connector will be sent to the drives Analog/Sync Output connector. When Virtual Master is selected the Virtual Master that was
setup on the Virtual Master view is sent to the Analog/Sync Output connector.
3.7.3 Master Position Setup Group
Define Home Position
Define Home Position (MasterAxis.DefineHomePosn) is the value that the Master Position Feedback will be set to when the
MasterAxis.DefineHome destination is activated. After the MasterAxis.DefineHome has been activated, the
MasterAxis.AbsolutePosnValid source will activate.
Rotary Rollover Check Box
When selected, (MasterAxis.RotaryRolloverEnable=on)the rotary rollover feature for the Master Axis will be enabled.
Rotary Rollover
If enabled, the Master Position will rollover to zero at the value specified here. As the master encoder counts up, the master
position feedback will increase until it reaches the Rotary Rollover value (MasterAxis.RotaryRolloverPosn) and then reset to
zero and continue to count up. If rotating in the negative direction, the master position feedback will decrease until it reaches
zero, and then start over at the Rotary Rollover value.
3.7.4 Master Distance Units Group
The parameters in this group are used to establish the scaling of the master axis into user units.
Units Name
This is a text string up to 12 characters that will be used to define the units of distance traveled by the master axis for incoming
synchronization signals.
Decimal Places
The number of decimal places set in this parameter determines the number of digits after the decimal point used in all distance
and position parameters used in synchronized motion throughout the software. Using a high number of decimal places will
improve position resolution, but will also limit the maximum position. You can select from zero to six decimal places of
programming resolution.
Scaling
When Sync Encoder Input is selected as the Master Source then the scaling factor is defined as
MasterAxis.CharacteristicDistance/MasterAxis.Counts. The numerator (top value of the scaling fraction) is the Characteristic
Distance. The denominator (bottom value of the scaling fraction) is the # of Counts. The Characteristic Distance is the number
of Master Distance Units that will be traveled per number of counts in the bottom of the fraction. The Counts parameter is the
number of incoming pulses it takes to travel the characteristic distance.
3.7.5 Master Velocity Units Group
Decimal Places
Decimal Places determines the number of decimal places to be used in the velocity parameter for all synchronized motion.
3.7.6 Master Acceleration Units Group
Decimal Places
The number of decimal places set in this parameter determines the number of digits after the decimal point used in all real-
time accel/decel parameters used for synchronized motion throughout the software. Using a high number of decimal places
will improve accel/decel resolution, but will also limit the maximum accel/decel rate. You can select from zero to six decimal
places of programming resolution.
3.7.7 Master Position Filter Group
The master position filter is designed for applications where the master encoder input requires smoothing due to low resolution
or high gain. These applications include low speed masters, low resolution master encoders, and large follower to master gear
ratios.
Filters inherently introduce phase shift (or delay) in the followers response to the master position, velocity and acceleration.