Table of Contents - TG Drives

70
Pg, Profile generator
Wait Pg.RDY
Stop
; And wait until we are there.
EXTENDED REGISTER GROUPS
MOVE TO A TARGET POSITION ’BEHIND’ OUR CURRENT POSITION.
Let Pg.Acc, 18784200
Let Pg.Decel, Pg.Acc
Let Pg.PosSpeed, 3276800
Let Pg.Speed, 100000
Wait Pg.ASpeed = Pg.Speed
Wait In.DI1 = 1
RefPos 0
Pos Abs 0
Wait Pg.RDY
Stop
; Setup the profile generator.
; Start movement.
; Wait until speed has been reached.
; Wait for external input active.
; Set new logical position.
; Move to the logical zero position.
; And wait until we are there.
VERY SHORT MOTION PROFILES AND/OR VERY HIGH DECELERATION RATES.
Let Pg.Acc, 18784200
Let Pg.Decel, Pg.Acc
Let Pg.PosSpeed, 3276800
loop: Clr Tmr.T0
Pos Rel 1000
Wait Pg.RDY
Disp Tmr.T0
Clr Tmr.T0
Wait Tmr.T0 > 1000
Goto loop
GROUP MEMBERS (GROUP 4)
; Setup the profile generator.
; Clear timer for time measurement.
; Do a small step (modify this even smaller)
; and wait until we are there.
; Display the time required to do the step.
; Do this once every second.
Group member Member
No
Range Ability Default
Pg.Mode 0 0..7 RW
Specifies the working mode for the profile generator. This is
normally manipulated by the POS statement and is not usually
user-modified.
Bit0 (1) =1 Standard positioning active.
Bit1 (2) =1 Positioning is now ”locked on target”, i.e. the deceleration phase
has begun.
Bit2 (4) =1 Acceleration profile is active.
Bit3..6 NYI
Bit7 (128) = 1 The outputs are disconnected from the regulator. Intended for
external use of the Pg, i.e. virtual master.
Pg.Acc 1 0..2 31 -1 RW
The allowed acceleration in increments-per-second 2 .
Pg.APos 2 -2 31 ..2 31 -1 RW
The actual set-position in increments.
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001