Emerson Epsilon EP Drive 400518-01 Manual de instalación descargar pdf (Pagina 28)

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

Figure 27: Incremental Index Example 2

Registration Index

A Registration Index is used in applications where the motor must move until an object is detected and then move a specific

distance from the point of detection, such as finding a registration mark and moving a distance beyond.

The Registration Index consists of two parts. The first part accelerates the motor to the target velocity and continues at this

velocity until it receives a registration trigger (sensor or analog). Upon receipt of a registration trigger, the registration offset

will be executed at the target velocity. The Sensor Limit Distance Hit source can be used to turn on an output, if a sensor input

or analog limit is not received within the Limit Distance. A registration window can also be used to determine the validity of

a registration trigger. If a registration trigger is received outside of the registration window, it will be ignored.

Rotary Plus and Rotary Minus Indexes

Rotary Plus and Rotary Minus Indexes provide forced directional control of moves to absolute positions. The position entered

for a Rotary Plus or Minus type index must be within the rotary range (i.e. 0 ≤ Position < Rotary Rollover Point). All other

parameters function the same as they do with absolute indexes. An Absolute Index is a direct move to a specific position,

regardless of the starting point. A Rotary Plus Index moves to the specified position, but is forced in a positive direction.

Similarly, a Rotary Minus index moves to the specific position, but is forced in a negative direction.

Rotary Plus and Minus Indexes are usually used in rotary applications, therefore the rotary rollover feature on the Setup -

Position view in the PowerTools Pro software must be enabled to use them.

1. In the following examples the term “D” = (absolute position specified) - (current position). If “D” is negative, motion in

the negative direction is implied.

2. In the following examples the Rotary Rollover parameter on the Setup - Position view is set to 360.00°. This means that

with each revolution of the motor (or rotary table), feedback will count up to 359.99°, then roll over to Ø°.

Indexes with Rotary Rollover Enabled

Incremental move distances can be outside of the rotary rollover range. See the "Setting Up Parameters" chapter for an

explanation of Rotary Rollover.

Example 1: If the starting position is at Ø° and 720° is the specified distance, an Incremental index would move 2

revolutions in the positive direction. At the completion of this index the motor position would be Ø°.

Absolute indexes will take the shortest path to the specified position. Absolute index positions must be within the rotary

rollover range.

Example 2: If the starting position is at 90° and 80° is the specified position, an Absolute index would travel 10° in the

negative direction. At the completion of this index the motor position would be 80°.

Example 3: If the starting position is 45° and 315° is the specified position, an Absolute index would travel 90° in the

negative direction because that is the shortest path between 45° and 315°.

Rotary Plus indexes will move to the specified position and are forced in a positive (or plus) direction. Rotary Plus index

distances must be within the rotary rollover range.

Example 4: As in example 2 above, the starting position is at 90° and 80° is the specified position. A Rotary Plus index

would travel 350° in the positive direction. At the completion of this index the motor position would be 80°.

Example 5: If the starting position is 10° and the specified position is 350°, a Rotary Plus index will travel 340° in the

positive direction.

Incremental Index

Start Position = 1 Rev

Index Distance = 2 Revs

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Emerson Epsilon EP Drive 400518-01 Manual de instalación Pagina 28