Control Techniques Epsilon EP-P, Справочное руководство

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Epsilon EP-P Drive Reference Manual
105
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Revision A4 www.controltechniques.com
of the synch motion without performing an synchronized deceleration ramp.
Neither the CommandComplete signals from motion objects nor the ProgramComplete signals will activate if they have been
stopped using the MotionStop command.
In the example below, Program 0 runs an infinite loop in which Index 5 runs and then waits for half a second and then repeats
itself. When Input 2 activates, Index 5 will stop if in progress and the program will loop back to the Index.5.Initiate.
Example: 1
Program 0 – Running on Task 0
Do While TRUE
Index.5.Initiate
Wait For (Index.AnyCommandComplete OR MotionStop = ON)
Wait For Time 0.50 ‘Seconds
Loop
Program 1 – Running on Task 1
Wait For DriveInput.2 = ON
MotionStop = ON
Wait For DriveInput.2 = OFF
MotionStop = OFF
3.41.2 MotionStop from an Assignment
The MotionStop as explained above can also be initiated from an Assignment. MotionStop can be found in the Ramps group of
Destinations.
3.41.3 Profile.#.MotionStop from a Program
The Profile.MotionStop instruction is used to stop motion on an individual profile without stopping all motion. Upon activation of
the Profile.MotionStop, any motion running on the specified profile will begin to decelerate using the StopDecel ramp down to
zero velocity. The deceleration is performed in realtime regardless of the timebase of the active motion. This can be used in
applications where motion is being run on both profiles simultaneously, and the user only wishes to stop one of the motion
types. For example, an application that uses gearing to follow a master encoder and then uses indexes on the other profile to
do correction profiles. The application may call for stopping all correction moves, but continuing the gearing motion. In this
application, the user would perform a Profile.MotionStop on the profile doing the correction moves. The below example uses a
separate program to control the Profile.Stop.
The Profile.MotionStop instruction does not stop the program that the motion is initiated from.
The Profile.MotionStop is level sensitive so that when it is activated, all motion on that profile will stop, and remain stopped,
until the Profile.MotionStop is deactivated. If the Profile.MotionStop is activated, it will stop any motion in progress, and will
also prevent any new motion from starting on that profile. No motion will be permitted on that profile until the profile being
stopped has come to a complete stop. The motion that was stopped while in progress will not resume when the
Profile.MotionStop is deactivated. Level sensitive motion that is initiated from the Assignments view (i.e. jogging, gearing) will
not operate until the activate signal is reset and activated again.
The CommandComplete signal for the motion will NOT activate if the motion was interrupted using the Profile.MotionStop
command regardless of motion type. In the example below, Program 0 would be stuck on the Wait For
Index.AnyCommandComplete instruction if the Profile.MotionStop is used. To avoid this condition, “OR Profile.1.Stop” has
been inserted after the Wait For Index.AnyCommandComplete.
Example: 1
Program 0 – Running on Task 0
Gear.Initiate On Profile.0
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Do While TRUE
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Wait For DriveInput.1 = ON
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Index.1.Initiate On Profile.1
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Wait For (Index.AnyCommandComplete OR Profile.1.MotionStop)
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Loop
Program 1 – Running on Task 1
Do While TRUE
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Wait For DriveInput.2 = ON
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Profile.1.MotionStop = ON
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Wait For DriveInput.2 = OFF
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Profile.1.MotionStop = OFF
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Loop
3.41.4 Profile.#.MotionStop from an Assignment
The Profile.#.MotionStop as explained above can also be initiated from an Assignment. Profile.#.MotionStop can be found in
each Profiler group of destinations.
3.42 Network Group
For information on the DeviceNet, Ethernet and Profibus Views, please refer to the Epsilon EP Drive Connectivity Reference
Manual (P/N 400518-04).