M
OTION
C
ONTROL
Networked Indexer/Driver User Manual
ADVANCED MICRO CONTROLS INC.
34
Assembled Moves (continued)
Dwell Move (continued)
The following figure shows a drilling profile that enters the part in stages and reverses direction during the drill-
ing operation so chips can be relieved from the bit. You
could
accomplish this Dwell Move with a series of six
relative moves that are sent down to the Networked Driver sequentially. The two advantages of a Dwell Move
in this case are that the Networked Driver will be more accurate with the Dwell Time then you can be in your
control program, and Dwell Moves simplify your program’s logic.
Figure R3.13 Dwell Move
1) You do not have to preset the position or home the machine before you using a Dwell Move.
Because the Dwell Move is based on Relative Moves, it can be run from any location.
2) The Dwell Move is stored in the internal memory of the Networked Driver and can be run
multiple times once it is written to the unit. The Dwell Move data stays in memory until
power is removed, the unit is sent new Configuration Data, or a new Blend or Dwell Move is
written to the Networked Driver. As described in
Saving an Assembled Move in Flash
page 36, it is also possible to save a Dwell Move to flash memory. This move is restored on
power up and can be run as soon as you configure your Networked Driver and enter Com-
mand Mode.
Controlled Stop Conditions
The move completes without error.
You toggle the Hold_Move control bit in the Network Output Data. When this occurs, the Networked
Driver decelerates the move at the deceleration rate of the present segment to the Starting Speed and
ends the move. Note that your final position will most likely not be the one you commanded. A Dwell
Move that is brought to a controlled stop with the Hold_Move bit cannot be restarted.
Immediate Stop Conditions
The Immediate_Stop bit makes a 0
1 transition in the Network Output Data.
A positive transition on an input configured as an E-Stop Input.
A CW or CCW Limit Switch is reached. If the limit that is reached is the same as the direction of travel,
for example, hitting the CW limit while running a CW move, a
Reset Errors
command must be issued
before moves are allowed in that direction again. If the limit that is reached is opposite the direction of
travel, a
Reset Errors
command does not have to be issued.
SP
E
E
D
POSITION
CW
CCW
Segment 1
Segment 2
Segment 4
Segment 6
Segment 3
Segment 5
Содержание SD17060E-K
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