Control Techniques Epsilon EP-P, Справочное руководство

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Epsilon EP-P Drive Reference Manual
127
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Revision A4 www.controltechniques.com
Dwell for Master Dist
This motion instruction is used to pause program execution for a precise change in distance on the master encoder signal.
This is typically used in synchronized motion applications. This dwell does not begin until all other motion has completed.
When the dwell begins, program flow will wait until the specified master distance has passed. The units for the dwell value are
specified in the Master Units View.
Example:
Do While (TRUE)
Index.0.Initiate ‘Synch,Incr,Dist=5.0 Inches,Vel=1 Inches/
MstrInch
Dwell For MasterDist 12.00 ‘MstrInch
Loop
IndexInitiate by Expression
This motion instruction is used to initiate a single index. The index is preset to include an acceleration up to speed, a run at
speed and a deceleration to a stop. IndexInitiate by Expression is used to initiate different indexes with the same line of code
in a program.
One notable change from a standard Index.#.Initiate is that Wait for Index.AnyCommandComplete” line of code normally
inserted after the initiate will not be inserted after IndexInitiate by Expression. No comments will be added to this instruction as
the index selected can change anytime before the initiate command is encountered.
The following example will initiate index.0, wait for complete, initiate index.1, wait for complete, index.2... etc.
Example:
var.var0 = 0
a:
indexinitiate var.var0
Var.var0 = 1 + var.var0
wait for index.anycommandcomplete
goto a:
CompoundIndexInitiate by Expression
This motion instruction is used to vary the index numbers making up a compound index. No comments will be added to this
instruction as the index selected can change anytime before the initiate command is encountered.
The following code will continuously compound initiate Index.0 and Index.1 in a loop.
Example:
a:
if var.var0 = 0 then
var.var0 = 1
else
var.var0 = 0
endif
CompoundIndexInitiate var.var0
goto a:
CamInitate By Expression
This motion instruction is used to initiate a cam. The cam is preset to include cam type, time base, direction, any chaining
requirements, and a deceleration to a stop, optional. CamInitiate by Expression is used to initiate different Cams with the same
line of code in a program.
The following example will initiate Cam Table 0, wait for complete, initiate Cam Table.1, wait for complete, index.2... etc.
Example:
var.var0 = 0
a:
CamInitiate var.var0
Var.var0 = 1 + var.var0
wait for index.anycommandcomplete
goto a: