AMCI SD4840EK, Руководство пользователя

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
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SD4840EK User Manual
M
OVE
P
ROFILES
29
Encoder Registration Moves
When the SD4840EK is configured to use a quadrature encoder, the position value from the encoder can be
used as a registration mark to control when the move begins to decelerate. Absolute and relative type moves
are both supported.
You do not have the preset the position or home the machine before you can use a relative
Encoder Registration Move.
The figure below represents either a relative Encoder Registration Move of 11,000 counts or an absolute
Encoder Registration Move to position 16,000. The figure shows that the encoder position you program in the
move defines the point at which the motor begins to decelerate and stop.
It does not define the stopping posi-
tion as it does in other move types.
The endpoint of the move depends on the speed of the motor when the
programmed encoder position is reached and the deceleration values. This behavior is different from Abso-
lute and Relative Moves where the position you program into the move is the end point of the move.
Figure R2.11 Encoder Registration Move
Controlled Stops

The move completes without error

You toggle the Hold Move control bit in the Network Output Data. Note that your holding position will
most likely not be the final position you commanded. You can resume a held Encoder Registration
Move by using the Resume Move bit or abandon the held move by starting a new one. The use of the
Hold Move and Resume Move bits is explained in the
Controlling Moves In Progress
section starting
on page 35.
Immediate Stops

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/CWW 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.
Assembled Moves
All of the moves explained so far must be run individually to their completion or be stopped before another
move can begin. The SD4840EK gives you the ability to assemble more complex profiles from a series of rel-
ative moves that are stored in memory and then run with a single command. Each Assembled Move can con-
sist of 2 to 16 segments. Two types of Assembled Moves exist in the SD4840EK:

Blend Move -
A Blend Move gives you the ability to string multiple relative moves together and run all
of them sequentially without stopping the shaft between moves. All of the moves are in the same direc-
tion.

Dwell Move -
A Dwell Move gives you the ability to string multiple relative moves together, and the
SD4840EK will stop between each move for a programed
Dwell Time
. Because motion stops between
each segment, a Dwell Move allows you to reverse direction during the move.
SP
EE
D
POSITION
16,000
Programmed
Encoder Position
5,000