Emerson Epsilon EP Drive 400518-01 Manual de instalación descargar pdf (Pagina 125)

113

Programming

Examples:

Jog.0.MinusInitiate ‘Vel=27.2in/s

Jog.1.MinusInitiate ‘Sync,Vel=1.000in/in

Program.ProgramStop

The Program.#.ProgramStop instruction is used to stop processing a specific program. The ProgramStop instruction can be

used in a program to stop itself or any other program. The ProgramStop instruction DOES NOT stop the motion that has been

initiated by the program being stopped. Either the MotionStop or the Profile.Stop instruction must be used to stop motion

from a program.

If the ProgramStop instruction is used to stop a program that is not running, the Stop will be issued, but will be ignored.

If the program that is stopped was called by another program, the call is killed. This means that program flow will not return

to the program that originally called the program that was stopped. For example, Program 1 calls Program 2. While Program

2 is running, Program 3 (which is running on a different task) issues a Program.2.ProgramStop command. If Program 2 ended

because of normal conditions (i.e. the “End” instruction), then program flow would return back to Program 1. Because

Program 2 was terminated using the Program.Stop instruction, program flow does not return to Program 1.

The ProgramComplete signal will not activate if a program has been stopped using the Program.Stop command.

Example:

Program 0 – Running on Task 0

Do While TRUE

Index.1.Initiate

Wait For Index.AnyCommandComplete

Var.Counter = Var.Counter + 1

Loop

Program 1 – Running on Task 1

Wait For DriveInput.1 = ON

Program.0.Stop

Note

In the example above, when input 1 turns on, Program 0 will be stopped. If Index 1 was in progress when the program

was stopped, the index will continue until it is complete.

Program.Initiate

This instruction allows the user to start another program from within a program. This is different from a Call Program

instruction because the program this instruction is in does not stop when the other program starts. Therefore the program that

is initiated must be on a different task. (See “Program Multi-Tasking” on page 117)

Gear Stop

Gear Stop will stop gearing motion that has been initiated from a program.

Example:

Gear.Initiate

Wait for DriveInput.2=ON

Gear.Stop

Gear.Initate

Gear Initiate will initiate gearing from a program. Gearing will remain active until the Gear.Stop command is used.

Example:

Gear.Initiate

Wait for DriveInput.2=ON

Gear.Stop

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.

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Emerson Epsilon EP Drive 400518-01 Manual de instalación Pagina 125

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