Example Programs
Appendix B
PLC Input 4
for positioning
B-4-6
Defining the application
•
When counting for the required accuracy a safe rule is to count on 20-30 quad edge pulse error
directly on the motor. Depends mostly on the mechanical system design.
•
The encoder can be either in the motor or after gearbox. For higher accuracy in the motor is good, but
then we have to be careful with the frequency limits of the input.
•
In any case take into account the 5KHz maximum input rate for the maximum motor speed. Depends
on the encoder resolution, where it is placed and encoder max rpm. Typical figure is for a 1500rpm
motor, with encoder directly coupled to motor that we can use a 200ppr encoder if we require full
speed range : This is 5KHz at top speed.
B-4-7
Program structure
The program structure is as follows:
•
User_Parameter_Init:
will be used by the customer to initialise Position program parameters and
application own parameters
•
User_Application:
will make use of the control bits and parameters of the Positioning template to do
the machine sequence. If the user program has more sections all have to be in front of the Pos_???
sections.
•
Pos_Loop
: provides the position/speed control capabilities
•
Pos_HomeSequence
: provides the home sequence facilities.
B-4-8
Setting position parameters
The software provides the following BIT/WORD interface area and default values ….
NOTE : as the reading of the encoder signal comes from quadrature signals, the name quads refers to four
counts for each encoder pulse…. It means a 200ppr encoder will provide a real resolution of 800 quads per
revolution….
The frequency limit is defined by the real pulse limit, not quads.
Default values
are the default values in the examples provided. Customer can fill its own values.
It is recommended to first do a trial run in speed with small reference and check that the counting of the
encoder corresponds to speed reference given. If not some wiring might be wrong. Once positive sense
corresponds to positive count, then we can go for the positioner settings.
81
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