Control Techniques Epsilon EP-P, Справочное руководство

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Epsilon EP-P Drive Reference Manual
129
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Revision A4 www.controltechniques.com
Index.CompoundInitiate
This program instruction is used to initiate an index which has no deceleration ramp. The index accelerates or decelerates
towards the next index velocity using the next index acceleration ramp. The index will finish at velocity. The program then
moves on to the next index. It smoothly transitions into the second index without stopping. The second index then ramps to its
pre-configured velocity. Multiple indexes can be “compounded” to create a complex velocity profile. The last index in a
complex profile must have a deceleration ramp. This is accomplished using a standard Index.Initiate rather than a
Index.CompoundInitiate. The final index will honor the deceleration ramp. If the last index is not long enough to perform a
decel ramp at the programmed rate, the motor will backup at the end of the last index.
Each index can be used in multiple places as both a standard index with a deceleration ramp, and a compound index without
a deceleration ramp. The program instruction (Index.0.Initiate or Index.0.CompoundInitiate), not the index itself, determines
whether or not the index will execute a deceleration ramp. For example, Index.0 can be used multiple times in multiple
programs. It can be initiated at different times using the Index.0.Initiate instruction and the Index.0.CompoundInitiate
instruction.
A comment is automatically inserted after the index instruction which shows key data about the particular index. The comment
starts with the apostrophe ‘ character.
Examples:
Index.0.CompoundInitiate ‘Incremental,Dist=5.000in,Vel=50in/s
Index.1.CompoundInitiate ‘Incremental,Dist=20.000in,Vel=75in/s
Index.2.Initiate ‘Incremental,Dist=10.000in,Vel=30in/s
Wait For Index.AnyCommandComplete
Figure 139: Index Velocity Profile
Index.0.CompoundInitiate ‘Incremetal,Dist=5.000in,Vel=50in/s
DriveOutput.1=ON ‘Turns ON immediately after Index.0 is started
Index.1.CompoundInitiate ‘Incremental,Dist=20.000in,Vel=75in/s
DriveOutput.2=ON ‘Turns ON immediately after Index.1 is started
Index.2.Initiate ‘Incremental,Dist=10.000in,Vel=30in/s
Index 1 Index 0 Index 2
Time
Ve
lo
c
it
y
Complex Velocity Profile
Index 1 Index 0 Index 2
Time
V
e
locity
Complex Velocity Profile
Drive Output 3 ON
OFF
ON
OFF
ON
OFF
Drive Output 2
Drive Output 1