Table of Contents - TG Drives

EXTENDED REGISTER GROUPS
Pos Inc
Profile Acc
PData
Pos Mod On
EXAMPLE USAGE
.
.
Pg.Acc ,1 000 000
Pg.Ret ,500 000
Pg.PosSpeed ,200 000
Pg.RSlope ,16
pos abs 81920
wait Pg.RDY
.
.
profile acc @Custom
wait Pg.RDY
.
.
Pg, Profile generator
Move to the absolute position ( + Pg.DPos)¨.
Generate profile based on array defined at line
.
, Defines one segment of customised profile.
(clr) Connects additional command values from
gearbox function.
; Array of acc. segments defining a profile
Custom:
;set up
;the profile generator
;for a simple movement
;
;move ...
;wait for completion
;start the custom profile
;wait for completion
leration [incs/s 2 pdata acc1 ,time1 ;first segment (acce
] ;time [ms])
pdata acc2 ,time2 ;second segment
pdata
.
acc3 ,time3 ;third segment
pdata 0 0 ;end of array
IMPROVEMENTS TO 4.0
The instruction ’Wait rator to be finished, this
is not the same as saying that the position has been physically reached. The profile
generator generates set point values to the regulator and it’s up to the regulator to
follow the profile based on the regulator settings.
To test these examples a ’stiff’ regulator setting is required.
The code examples below, executed on the DMC 2 Pg.RDY’ will wait for the profile gene
, will behave as expected. That
was not the case on the old DMC. All examples use the resolver high-resolution
mode.
MODIFY DESTINATION POSITION WHILE POSITIONING.
Let Pg.Acc, 18784200 ; Setup the profile generator
Let Pg.Decel, Pg.Acc
Let Pg.PosSpeed, 3276800
Pos Abs 1000000
Wait Pg.APos > 500000
Let Pg.DPos, 200000
; Start positioning.
; Wait until we reached a certain position.
; Now, modify the destination position.
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001
69