Emerson Epsilon EP Drive 400518-01 Manual de instalación Pagina 117
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105
Programming
Examples:
Do While DriveInput.1=ON ‘Repeat the three lines of code below
‘as long as DriveInput.1 is ON.
Index.1.Initiate ‘Incremental,Dist=5.250in,Vel=10.0in/s
Dwell For Time 1.000 ‘seconds
Loop
Do While (DriveInput.1=ON AND DriveInput.2=OFF)
‘Repeat the three lines of code below
‘as long as DriveInput.1 is ON and
‘DriveInput.2=OFF.
Index.1.Initiate ‘Incremental,Dist=5.250in,Vel=10.0in/s
Dwell For Time 1.000 ‘seconds
Loop
Do While (TRUE) ‘Repeat until the program is halted
Index.1.Initiate ‘Incremental,Dist=5.250in,Vel=10.0in/s
Dwell For Time 1.000 ‘seconds
Loop
Wait For
This program flow instruction is used to halt program execution until an expression becomes true. Once the expression
becomes true the program continues on with the next line of code.
Logical tests (AND, OR, NOT) can be used in the Wait For instruction. Output events (DriveInput=ON, AtVel, etc.) as well
as comparisons (PosnFeedback > 1234, VelFeedback < 100, etc.) can be used in a Wait For instruction.
Examples:
Wait For (DriveInput.1=ON AND DriveInput.2=OFF)
Index.0.Initiate
Wait For Index.AnyCommandComplete
If (DriveInput.2=ON) Then ‘Jog+ when DriveInput.2=ON
Jog.0.PlusInitiate ‘Vel=20in/s
Wait For DriveInput.2=OFF ‘Stop when the input goes OFF
Jog.Stop ‘Decelerate to a stop
Endif
If (DriveInput.3=ON) Then ‘Jog- when DriveInput.3=ON
Jog.0.MinusInitiate ‘Vel=20in/s
Wait For DriveInput.3=OFF ‘Stop when the input goes OFF
Jog.Stop ‘Decelerate to a stop
Endif
Wait For (MasterAxis.PosnFeedback > 1000.00)
DriveOutput.1 = ON
Wait For (VelFeedback > 50.00)
DriveOutput.2 = ON
Wait For Time
This program instruction is used to halt program execution for a specified period of time. This instruction is not a motion
instruction and can be used while a motion instruction is executing. Units: Seconds, Resolution: 0.001 seconds
A comment is automatically inserted after the “Wait For Time” instruction which notes that the time is in units of seconds.
The comment starts with the apostrophe ‘ character.
Examples:
Wait For Time 5.000 ‘seconds
Do While (TRUE) ‘Repeat until the program is halted
Index.1.Initiate ‘Incremental,Dist=25.250in,Vel=10.0in/s
Wait For AtVel
‘Turn Output 1 ON for 1 second, after the ‘index reaches its’ tar-
get velocity
DriveOutput.1=ON
Wait For Time 1.000 ‘seconds
- Epsilon EP-P Drive and 1
- FM-3/4 Modules 1
- Reference Manual 3
- Customer Support 5
- Document Conventions 6
- Safety Instructions 7
- Reference Materials 7
- Safety Considerations 9
- Table of Contents 11
- Introduction 13
- Programming Module 14
- Operational Overview 15
- Transmit Cntr 17
- How Motion Works 18
- How Jogging Works 18
- How Home Works 18
- Home Sequence 19
- Sensor then Marker 20
- Accuracy and Repeatability 20
- Home Offset 21
- Calculated 22
- Specified 22
- End of Home Position 23
- Home Limit Distance 23
- Home Examples 23
- Offset Move 24
- How Indexes Work 25
- Absolute vs. Incremental 26
- Absolute Indexes 26
- Absolute Index 27
- Incremental Index 28
- Start Position = 1 Rev 28
- Index Distance = 2 Revs 28
- How Communications Work 29
- Downloading 30
- Change Path Connection 31
- Uploading 32
- Updating to RAM 33
- Communications Tab 34
- PopUps Tab 34
- Secure Downloading 35
- Brake Operation 36
- How Data Capture Works 37
- Setting Up Parameters 39
- Timing Group 40
- Data Group 40
- Setup View 41
- Configuration Group 42
- Drive Encoder Output Group 42
- Positive Direction Group 42
- Update Rate Group 43
- Switching Frequency Group 43
- Motor Position Group 43
- Motor Velocity Group 44
- Control Loop Group 44
- Master Feedback Group 44
- Information Tab (Online Only) 45
- Motor Type List Box 46
- Motor Parameters Column 47
- Values from Drive Column 48
- Apply to Config. Button 48
- Run Auto-Tune Button 49
- Save .ddf Values Button 50
- Existing Motor Names List Box 51
- Velocity Group 53
- Encoder Setup Group 55
- Master Position Setup Group 56
- Master Distance Units 56
- Master Velocity Units 56
- Master Acceleration Units 56
- Master Position Filter 56
- Settings Group 58
- Limits Group 58
- Rotary Group 59
- Online Tab (not shown) 59
- = Index 0 63
- = Index 1 63
- Faults View 66
- Active Faults Group 68
- Power Up Group 68
- Fault Log Tab 68
- Fault Counts Tab 69
- PLS View 70
- Number of PLS Points 71
- ON Point 71
- OFF Point 71
- Setup NVM View 72
- Capture View 73
- Captured Data 74
- Queues View 76
- Full Level 77
- User Variables View 78
- User Bits View 79
- Adding and Deleting User Bits 80
- I/O Setup Group 82
- Assignments 82
- Assignments View 83
- Assignment Polarity 84
- User Level 85
- Only Show Assigned Check Box 85
- Selector View 86
- Input Lines View 88
- Output Lines View 89
- Analog Inputs View 89
- Enable Channel Check Box 90
- User Units 90
- Module Variable 90
- Analog Outputs View 91
- Motion Group 93
- Jog Sources and Destinations 94
- Home View 96
- Home Sources and Destinations 98
- Index View 99
- Timed Indexes 100
- Enable Index PLS 102
- PLS On Point 102
- PLS Off Point 102
- Registration Parameters 103
- Destinations 104
- Adding and Deleting Indexes 105
- Gearing View 106
- Multiple Profiles 107
- Stopping Motion 109
- Network Group 110
- Modbus View 110
- 0xxxx Read/Write Coil bit 111
- DeviceNet View 112
- Profibus View 112
- Ethernet View 112
- Programming 113
- Programs 115
- Program Instruction Types 115
- For Count/Next 116
- Do While/Loop 116
- Wait For 117
- Wait For Time 117
- Call Program 118
- Program Math Functions 120
- Motion Instructions 120
- Dwell for Master Dist 121
- IndexInitiate by Expression: 121
- Complex Velocity Profile 122
- Home.Initiate 124
- Jog.Stop 124
- Jog.PlusInitiate 124
- Jog.MinusInitiate 124
- Motion Modifiers 125
- Using Capture 126
- Using Last 126
- On Profile 126
- Adding and Deleting Programs 127
- Program Multi-Tasking 129
- Program Blocking 130
- Index.0.Initiate 131
- ModuleOutput.1=ON 131
- Example Programs 132
- ‘Dist=50.000,Vel=1.000in/in 133
- Flying Cutoff/Shear 134
- Sequence Learn and Playback 136
- Playback Program (Program 2) 137
- Parameter Descriptions 139
- Home.#.CalculatedOffset 150
- Home.#.SpecifiedOffset 152
- Index.#.RegistrationOffset 155
- Basic Setup Steps 173
- E Series Only 174
- Motor View 174
- User Units View 174
- Master Units View 175
- Position View 175
- Velocity View 176
- Ramps View 176
- Torque View 176
- Tuning View 176
- Step 3: Making Assignments 177
- Drag and 178
- Drop Method 178
- Jog Setup 179
- Home Setup 179
- Index Setup 180
- Step 5: Creating a Program 182
- Software Travel Limits 184
- Home Prox 184
- Making Assignments 185
- Tuning Procedures 191
- Tuning Steps 192
- General Tuning Hints 192
- Tuning Parameters 194
- Feedforwards 195
- Low Pass Filter Group 195
- Line Voltage (EN Only) 195
- RPM - RPM 196
- FV )100(= 196
- Determining Inertia Ratio 197
- Ramp Units Conversion 198
- Diagnostic Display 201
- Fault Codes 202
- Fault Descriptions 203
- Error Messages 206
- Drive Faults 206
- Programming Error Messages 207
- Online Status Indicators 209
- Global Where Am I Button 211
- Motion Status 211
- Channel #2 212
- Analog GND 212
- MDS Dri ve Module 212
- EN Dri ve 212
- Specifications 213
- Cable Diagrams 216
- SNCE-XXX Cable 217
- SNCDD-001.5 Cable 217
- SNCO-003 Cable 218
- TIA-XXX Cable 224
- DDS-XXX Cable 224
- TERM-H (Head) Terminator 225
- TERM-T (Tail) Terminator 225
- CMDS-XXX Cable 226
- CMMS-XXX Cable 226
- CFCS-XXX Cable 227
- CFCO-XXX Cable 228
- CFOS-XXX Cable 229
- Glossary 231
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