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
Deceleration
This parameter (TorqueMode.Decel) is the deceleration ramp for the velocity limit feature, when enabled.
3.40 Multiple Profiles
Motor motion or "Axis" motion may be generated from either of two Profiles: Profile.0 and Profile.1. Each of these Profiles can
run any type of motion (i.e. Index, Jog, Gear, etc.) at any time. Both of the Profiles can generate motion simultaneously. For
example while Gearing, an incremental index can be initiated "on top" of the Gear velocity. The sum of both Profiles provides
the motors commanded position and this parameter is called PosnCommand.
In order to run motion on both Profiles, a program must be used. To specify which profile a motion object runs on, the On
Profile instruction is used. The default Profile is Profile.0 and therefore it is unnecessary to specify On Profile.0 in user
programs. If no Profile is specified, the default profile is used. For example, a user program that initiates an index on
Profile.0. The following two program lines will generate the same result.
Index.0.Initiate
and
Index.0.Initiate On Profile.0
Both of these lines of code will initiate Index 0 on Profile 0. The first one uses Profile 0 because it is the default profile, and the
second one uses Profile 0 because it is specified. The On Profile.0 command is completely optional, but may be used for
clarity.
To run a motion object on the other profile (Profile 1), we must specify the use of Profile 1. The following program line will
perform Index 0 on Profile 1.
Index.0.Initiate On Profile.1
Any motion may be run on either Profile, but running the same motion object on both profiles simultaneously is prohibited. For
example, it is illegal to run Index 0 on Profile 0 and on Profile 1 at the same time.
Illegal:
Index.0.Initate
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Index.0.Initiate On Profile.1
Legal:
Index.0.Initiate
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Wait For Index.0.CommandComplete
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Index.0.Initiate On Profile.1
Any two motion objects can be run on both profiles at the same time. For example, it is legal to run Index 0 on Profile 0 and
Index 1 on Profile 1 at the same time.
Legal:
Index.0.Initiate

Index.1.Initiate On Profile.1
The distance and velocity of the two indexes is summed to generate the overall position command and velocity command for
the motor.
All motion run from the Assignments view is automatically run on Profile 0. It is not possible to change the Profile on which
motion run from the Assignments view operates. Therefore in order to run motion from both the Assignments view and from a
program simultaneously, motion initiated by the program must be run on Profile 1.
The Profile view allows the user to view the Position Command and Velocity Command for each profile individually. An
example of this view is shown below.