Control Techniques Epsilon EP-P, Справочное руководство

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Epsilon EP-P Drive Reference Manual
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www.controltechniques.com Revision: A4
Gear.Initiate
Wait for DriveInput.2=ON
Gear.Stop
Cam.Initiate
Cam.#.Initiate has two forms - Program Instruction and Assignment (as a Destination). Both are used to initiate a specific Cam. For the
Destination, the Cam is initiated on the rising edge of this event. Using the Destination, a Cam cannot be initiated if there is an Index, Home,
Jog, or Program in progress, or if the Cam.#.Initiate is an instruction. If any motion is active, the program will hold on this instruction until that
motion is complete (unless it is run on a different profile).
Cam.Resume
Resumes the cam execution from a Cam.Suspend command (or SetCamMasterOffset(MasterPosn), or SetCamFollowerOffset
(FollowerPosn). The cam points are all relative to the start of the Cam table. On Cam.Resume the current physical position becomes the cam
start point and the cam aligns it’s resume position to the current physical position without any physical movement. This means if you suspend
a cam and move the physical position; for example with a Jog, you will need to position the motor back to the desired position before resuming.
Cam.Suspend
When Cam.Suspend is activated the current cam will stop using the Cam.Decel ramp rate (if Cam.DecelEnable is enabled). The cam will
accept a Cam.Resume after a suspend. The suspend records the master and follower positions at the point of the suspend for future
Cam.Resume execution.
Cam.Stop
When Cam.Stop is activated the cam will stop using the Cam.Decel ramp rate (if Cam.DecelEnable is enabled).
4.4.5 Motion Modifiers
Timeline Control Instructions
Keeping the timeline intact is most important in applications using synchronized motion. This is because in synchronized motion, time is
replaced by master encoder motion. If time is lost in a synchronized motion application, then master distance is lost, and the follower position
is off with respect to the master.
The Epsilon EP-P drive has program instructions to allow better control of the timeline. These instructions are the “Using Capture” and the
“Using Last” instructions. Following is a description of each of the instructions:
On Profile
The On Profile instruction can be inserted after any motion type Initiate, Dwell For Time, or Dwell For MasterDist instructions. By inserting the
On Profile modifier, it specifies which Profile the instruction will run on (See Multiple Profiles section for more information). Select from Profile 0
or Profile 1. Both Profiles sum to give a single commanded position and commanded velocity. If no On Profile modifier is used, the motion/
dwell will operate on Profile 0. All motion that is initiated from the Assignments view operates on Profile 0.
The On Profile modifier is also used with the Jog.Stop and Gear.Stop. When stopping jog or gear motion that is operating on Profile 1, the On
Profile 1 modifier must also be used on the stop instruction.
Examples:
Index.0.Initiate 'Index 0 runs on Profile 0
Index.1.Initiate On Profile.1 'Index 1 runs on Profile 1
Gear.Initiate On Profile.1 'Gear operates on Profile 1
Wait For DriveInput.3 = ON
Gear.Stop On Profile.1
'Stop Gear running on Profile 1
Jog.0.PlusInitiate On Profile.1 'Jog 0 runs in positive direction on Profile 1
Index.0.Initiate 'Index 0 runs on Profile 0
Wait For Index.AnyCommandComplete
Wait For DriveInput.2 = ON
Jog.Stop On Profile.1
'Stop Jog running on Profile 1
Using Capture
The Using Capture instruction can be inserted after any Jog Initiate, Index Initiate, Dwell For Time, and Dwell For MasterDist instructions. By
inserting the Using Capture instruction, it specifies that data captured by the position capture object is to be used as the starting point for the
motion initiate. If the motion time base is realtime, then the captured time is used as the starting point for the motion profile. If the motion time
base is synchronized, then the captured master position is used as the starting point for the profile.
Example:
Wait For (Capture.0.CaptureTriggered)
Index.0.Initiate Using Capture.0 ‘Index0,Incrmntl,Dist=5.0revs
Using Last
When the Using Last instruction is inserted after a motion initiate instruction, the time (or master position in synch motion) of the last command
complete is used as the starting point of the motion profile. Whenever a motion profile is complete, the time/position is automatically captured
behind the scenes. The Using Last instruction simply references this “automatically” captured time or position.
The Epsilon EP-P drive performs motion based on a concept called the timeline. The timeline allows for accurate and repeatable motion with
respect to a single point in time. The timeline guarantees that all motion profiles occur at the right time with respect to each other.