AMCI SD17060E, Руководство пользователя

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MOTION CONTROL
ADVANCED MICRO CONTROLS INC.
2
18
Manual, Relative, and Absolute Moves (continued)
Relative Moves (continued)
Controlled Stop Conditions
h
The move completes without error.
h
You toggle the Hold Move control bit in the Network Input Data and do not resume the move. Note
that your holding position will most likely not be the final position you commanded. The use of the
Hold Move and Resume Move bits is explained the
Controlling Moves In Progress section starting on
page 22.
Immediate Stop Conditions
h
The Immediate Stop bit makes a 0
p
1 transition in the Network Input Data.
h
A positive transition on an input configured as a E-Stop Input.
h
A CW/CWW Limit Switch is reached.
1) You do not have to preset the position or home the machine before you can use a Relative
Moves.
2) Relative Moves allow you to move your machine without having to calculate absolute posi-
tions. If you are indexing a rotary table, you can preform a relative move of 30° multiple
times without recalculating new positions in your controller. If you perform the same
action with Absolute Moves, you would have to calculate your 30° position followed by
your 60° position, followed by your 90° position, etc.
Absolute Moves
Before you can perform an Absolute Move you must set the machine position to a known value. This is
accomplished by using the Preset Position command or homing the machine.
To start an Absolute Move you must specify the values of the Acceleration/Deceleration parameters, the Pro-
grammed Speed, and the Final Position you wish to travel to. A final position greater than the starting posi-
tion will cause clockwise motion. A final position less than the starting position will cause counter-clockwise
motion.
Two Absolute Moves are shown below. The first is with a programmed Acceleration and Deceleration rates
that allow the move to reach the Programmed Speed. The second move is with low acceleration/deceleration
rates that do not allow the move to reach the Programmed Speed before deceleration must occur.
Figure 2.11 Absolute Moves
Controlled Stop Conditions
h
The move completes without error.
h
You toggle the Hold Move control bit in the Network Input Data and do not resume the move. Note
that your holding position will most likely not be the final position you commanded. The use of the
Hold Move and Resume Move bits is explained in the
Controlling Moves In Progress section starting
on page 22.
SP
E
E
D
POSITION
Starting Speed
Programmed Speed
5,000 12,500 20,000
First
Final Position
Second
Final Position