Control Techniques Epsilon EP-P, Reference Manual

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Epsilon EP-P Drive Reference Manual
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The follower will follow only the plus master axis command.
3.37.4 Acc/Dec Group
Acceleration and Deceleration ramps may be enabled on the Gearing view as seen in Figure 110 above. If enabled, the accel
and decel ramps are specified in units of Follower Units / Velocity Time Base / Acceleration Time Base. Note that this is a
Realtime ramp. Therefore, the time that it takes to reach the programmed ratio depends on how fast the master is traveling
when gearing is activated. Figure 111 below demonstrates that the faster the Master Velocity, the longer it will take to reach the
programmed ratio. If the Master Axis is not moving when gearing is initiated, then the follower locks into its programmed gear
ratio instantly (no acceleration time required).
Figure 111: Gearing Acceleration Ramp Description
The Gear.Ratio/Scaling can be changed on the fly (while in motion), but acceleration or deceleration must be enabled to use
ramps to achieve the new ratio. If gearing accel and/or decel ramps are not enabled, the motor will attempt to achieve the new
ratio in one trajectory update (800<t<16000 microseconds).
Initiating Gearing Motion
Gearing can be activated through an Assignment, or from a program instruction (Gear.Initiate). If initiated from an assignment,
the Gear.Activate destination is a level-sensitive event. This means that gearing will be active as long as the source to which it
is assigned is active. If gearing from a program, the Gear.Stop instruction is used to stop the gearing motion.
Stopping Gearing Motion
The method used to stop gearing motion depends on how the gearing was initiated. If gearing was initiated using an
Assignment, then simply deactivating the Gear.Active destination will cause gearing motion to stop. If gearing was initiated
from within a program, then the Gear.Stop command must be used to stop gearing. If gearing motion is operating on Profile.1,
then the On Profile.1 motion modifier must be used after the Gear.Stop instruction. See
Multiple Profiles on page 103 for more
information.
Distance Recovery when Gearing
If accel ramps are used, the gear will lag the master when Gear.AtVel is activated. The total lag distance will be stored in
parameter Gear.RecoveryDist. This parameter value can be loaded in to Index.#.Dist and that Index is ran on the other profile.
An alternative method is to enable the Distance Recovery feature on the Distance Recovery view. With Distance Recovery
enabled.
3.38 Camming View
Electronic cams provide a non-linear motion function for a single axis. The basic motion can best be illustrated in Figure 112 of
a mechanical cam and cam follower (or slave).