FG073
– DELTA CONT. RevA17 10-4-17
24
SPEED
–
The speed command sets maximum speed values, up to preset maximum values, to
each of the motors linked to the DELTA’s 4 axes
during the product creation sequence
of movements only,
not prior, in between or after each of the deposited rows on a tray.
The SPEED command is inserted into the product program just prior to the MOVE
command that it is to ‘speed’ control and all other MOVE commands, unless superseded by
another SPEED command at a later point in the product program. Consequently, the
SPEED command will usually be the first command of a product program but it can be used
repeatedly throughout any program.
Upon initially invoking the SPEED command into the product program, the maximum
allowable values to drive each axis at full speed are automatically entered and displayed.
The user chosen value, when entered, will represent a proportionate amount of this full-
speed value.
NOTE!
Special consideration needs to be given to the application and effect of the SPEED
command when more than one axes is moving. Since any number of the four axes may be
required to move simultaneously, then such axes must start and finish at the same time -
the controller achieves this automatically. Hence, if the programmed value for any one of
the moving axes represents a large amount of rotation for its motor compared to any of the
other motors, then it is the motor with this large amount of rotation that will dominate events.
The SPEED value entered for this dominant axis will be achieved and all other axes
involved in the simultaneous movement being performed will have their speeds
automatically compensated for so that all axis movements start and finish together.
Hence, to affect any control on the speed of events during product creation, the dominant
axis of all the simultaneously moving axes must be identified and its SPEED value altered
accordingly.
If no SPEED command is entered into the product program, then the controller will
a
utomatically use the default values as set in the ‘Speed Set Up’ menu (see section 3.3). If
these values are acceptable for the product being deposited, then the SPEED command
can be omitted from the product program.
SUCK BACK
–
The SUCK BACK command combines the effect of the MOVE and the SPEED commands
into one command and hence one line in the program thus saving programming time.
The effect of the SUCK BACK command is to withdraw a quantity of mix up into the nozzle
whilst raising the head vertically up from the deposited product.
The entered values required are for ‘SB QTY’ (enter positive value for mix withdrawal), ‘Jog
Dist’, in millimetres (height by which head is raised from previous height position) and ‘Jog
Speed’ (same speed value relationship as in SPEED command – see speed section).
The SUCK BACK command may be used repeatedly in a product program as required.
