Emerson EZMotion, User Manual

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176
EZMotion User/Programming Guide
www.controltechniques.com Revision: A8
Index.#.Initiate
The Index.#.Initiate Destination is used to start the specified index instance. When the Source assigned to the Index.#.Initiate
Destination activates, the index will accelerate to the specified index velocity. If the Index.#.Initiate Destination is held active, the
Index will not initiate again until the next rising edge.
Gear.Activate
Gear.Activate will, when active, cause the motor to run at the specified Gear Ratio. The direction that the motor turns is dependent
upon the direction the master axis is traveling, and the specified ratio. Gear.Activate is a level sensitive assignment meaning that as
long as the Destination is active, the Gear will be active.
To stop the gearing motion, simply deactivate the Gear.Activate Destination. The motor will ramp to zero velocity if deceleration is
enabled, or it will attempt to stop the motor without acceleration within one update if deceleration is not enabled.
10.1.2 From Programs
The various motion types function the same whether they are initiated from an assignment, or from a user program. In certain cases
however, the syntax used to initiate the motions from a program are slightly different than from an assignment. Following is a list of
instructions used to initiate motion types from a user program.
Jog.#.PlusInitiate
Jog.#.PlusInitiate is used in a program to initiate jogging motion in the positive direction. The user must specify which jog is to be
used in the instance location (# should be replaced with 0 or 1 for Jog 0 or Jog 1 respectively). Since Jog is level sensitive, the jog
will remain active until a Jog.Stop instruction is used in the same program.
If the program ends while jogging motion is active, the jog will automatically be stopped.
Jog.#.MinusInitiate
Jog.#.MinusInitiate is used in a program to initiate jogging motion in the negative direction. The user must specify which jog is to be
used in the instance location (# should be replaced with 0 or 1 for Jog 0 or Jog 1 respectively). Since Jog is level sensitive, the jog
will remain active until a Jog.Stop instruction is used in the same program.
If the program ends while jogging motion is active, the jog will automatically be stopped.
Home.#.Initiate
Home.#.Initiate is used in a program to initiate the Home sequence. The user must specify which Home is to be initiated in the
instance location (# should be replaced with 0 for Home 0) even though there is only one instance available. Since Home is edge
sensitive, the Home will initiate only once until the next Home.#.Initiate instruction.
The program will wait on the Home.#.Initiate instruction until the home is complete before moving on to the next line of the program.
Index.#.Initiate
Index.#.Initiate is used in a program to initiate an index profile. The user must specify which Index is to be initiated in the instance
location (# should be replaced with the index number). If Index.#.Initiate is held active, the index will initiate only once until the next
rising edge of the Destination signal.
The program will wait on the Index.#.Initiate instruction momentarily until the index starts before moving on to the next line of the
program.
Index.#.CompoundInitiate
The Index.#.CompoundInitiate instruction is unique to user programs. There is no way to compound indexes using assignments.
Compounding indexes is a way to link two or more indexes together so that the motor does not come to a stop in between the given
indexes. Instead of stopping between indexes, the initial index will complete its distance at its programmed velocity. Once the initial
index distance is complete, the motor will ramp to the secondary indexes' programmed velocity using the secondary indexes'
acceleration ramp. Regardless of whether the secondary index velocity is less than or greater than the primary index velocity, the
ramp from the primary velocity to the secondary velocity is the secondary indexes' acceleration. In the program, the user can
compound together as many indexes as desired. The last index in the group of compounded indexes should use a standard
Index.#.Initiate to signify that it should stop at the end of the index.
Figures 176 and 177 show examples of Compound Indexing.
Example: 1:
Index.0.CompoundInitiate 'Dist=10, Vel=100, Accel=100, Decel=100
Index.1.CompoundInitiate 'Dist=20, Vel=500, Accel=5000, Decel=5000
Index.2.Initiate 'Dist=30, Vel=1000, Accel=10000, Decel=10000