Emerson Epsilon EP Drive 400518-01 Manual de instalación descargar pdf (Pagina 110)

Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Wait For DriveInput.2 = OFF

MotionStop = OFF

MotionStop for an Assignment

The MotionStop as explained above can also be initiated from an Assignment. MotionStop can be found in the Ramps group

of Destinations.

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:

Program 0 – Running on Task 0

Gear.Initiate On Profile.0

Do While TRUE

Wait For DriveInput.1 = ON

Index.1.Initiate On Profile.1

Wait For (Index.AnyCommandComplete OR Profile.1.MotionStop)

Loop

Program 1 – Running on Task 1

Do While TRUE

Wait For DriveInput.2 = ON

Profile.1.MotionStop = ON

Wait For DriveInput.2 = OFF

Profile.1.MotionStop = OFF

Loop

Profile.#.MotionStop from an Assignment

The Profile.MotionStop as explained above can also be initiated form an Assignment. Profile.MotionStop can be found in

each Profile group of destinations.

Network Group

For information on the DeviceNet, Ethernet and Profibus Views, please refer to the FM-3 and FM-4 Connectivity Reference

Manual (P/N 400508-04).

Modbus View

The Modbus View is used to assign Modbus addresses to individual parameters.

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Emerson Epsilon EP Drive 400518-01 Manual de instalación Pagina 110

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Emerson Epsilon EP Drive 400518-01 Manual de instalación Pagina 110

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