ANCA Motion AMD2000 3A, Руководство пользователя

Страница: 119 / 189

Feature Configuration
ANCA Motion
DS619-0-00-0019 - Rev 0
119
10
IDN Label
P-0-0256 / 33024 DCM Procedure Command
P-0-0257 / 33025 DCM Status Word
P-0-0260 / 33028 DCM Target Position
P-0-0261 / 33029 DCM Maximum Velocity
P-0-0262 / 33030 DCM Acceleration
P-0-0263 / 33031 DCM Deceleration
P-0-0264 / 33032 DCM Delay Time
P-0-0265 / 33033 DCM Next Move
P-0-0266 / 33034 DCM First Move ID
To use DCMs:
-
Program set of desired move segments Manage execution of DCM’s via the DCM procedure command
P-0-0256 / 33024
- Monitor status of DCM via DCM Status Word IDN
P-0-0257 / 33025
.
Programming DCMs
Five of the above list of DCM related IDN’s are arrays of values, and these are the IDN’s 33028, -29, -30, -31, -32
and -33. The maximum number of entries for any IDN array in this list is set by the number of supported DCM
segments, which for the AMD2000 is up to 8. When programming DCM moves, all six IDN’s must be
programmed for each desired move segment. To program 5 move segments you must program each of the
IDN’s with 5 corresponding array elements, where the order of their application in performing a sequence of
moves will be determined by the value of IDN 33033, or the “Next Move” specification. If this Next Move IDN is
set to 0, then the sequence of moves has ended
. Therefore each move can be identified by an index of 1 through
to N moves. The sequence of moves begins with the move index set in IDN 33034.
In the following example 5 DCM are created to execute the following motion:
1. Move to 100 mm at 1000mm/min
2. Move to 200 mm at 2000mm/min
3. Move to 300 mm at 5000mm/min
4. Move to -100 mm at 10000mm/min
5. Move to 0 mm at 1000mm/min
DCM 1, 2 and 3 are chained together with a 1 second delay at the end of DCM 1 and a 2 second delay at the end
of DCM 2. This will result in the following action when DCM 1 is executed:
1. Move to 100mm
2. Pause for 1 second
3. Move to 200mm
4. Pause for 2 seconds
5. Move to 300mm
6. Finish
So the table of moves we are after is,
IDN Label
Move
1 2 3 4 5
P-0-0260 / 33028 DCM Target Position 100 200 300 -100 0
P-0-0261 / 33029 DCM Maximum Velocity 1000 2000 5000 10000 1000
P-0-0262 / 33030 DCM Acceleration 100 200 300 400 500
P-0-0263 / 33031 DCM Deceleration 500 400 300 200 100
P-0-0264 / 33032 DCM Delay Time 1000 2000 0 0 0
P-0-0265 / 33033 DCM Next Move 2 3 0 0 0
To program this set of move segments, the DCM parameters must be programmed as follows,
P-0-0260 / 33028 = 1000000,2000000,3000000,-1000000,0
Program the DCM target position (units used here are 0.1µm)