Table of Contents - TG Drives
Table of Contents - TG Drives 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
EXTENDED REGISTER GROUPS Pg.ASpeed 3 -32767000.. 32767000 RW Pg, Profile generator The actual set-speed (velocity) in increments-per-second. Pg.Speed 4 -32767000.. 327670000 RW The destination speed (velocity) in increments-per-second. Pg.PosSpeed 5 0..32767000 RW The maximum speed to use during positioning. If set to zero, the Pg.Speed value is used. Pg.Decel 6 0..2 31 -1 RW The same variable as Pg.Ret. The deceleration rate used for braking when completing a move in increments-per-second 2 . Pg.Ret 7 0..2 31 -1 RW The same variable as Pg.Decel. The deceleration rate used for braking when completing a move. Pg.ADecel 8 0..2 31 -1 R The actual deceleration used. Differs from Pg.Decel especially if Pg.RSlope is not zero. Pg.Dpos 9 -2 31 ..2 31 -1 RW The destination position for a positioning. This variable is manipulated by the POS xxx program statements, but can also be manipulated manually. Pg.RSlope 10 0..127 RW Creates a RC-like slope on the stop ramp at the end of a move. Used to allow a softer stop of the move. PG.RSlope = 0 gives a straight line and Pg.RSlope = 127 gives a maximum soft stop. NOTE: Using large values of Pg.RSlope so the stop is very soft makes the move’s completion time uncertain. Thus, in some cases, it may be more advantageous to wait for Pg.ASpeed to get below a predetermined low value than to wait for Pg.RDY to return TRUE. When Pg.RSlope is used then the initial deceleration will be larger that the setting of Pg.Decel. For Pg.RSlope = 127 the initial deceleration will be 2 * Pg.Decel. Pg.RDY 11 0 1 R Used to see if a move Pos xxx or Profile has completed. Returns to 1 when complete and 0 when incomplete. The Pg.Mode can also be used for this, but gives more details. Pg.ProScale 12 -2 31 .. 2 31 -1 RW The scale factor for profiles. Pg.ProScale multiplies the data obtained from the profile and the result is then divided by 1024. If the value in the PDATA * Pg.ProScale is greater than 2 47 , the profile generator gets an overflow and the profile is aborted. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 71
- Page 20 and 21: 20 Function Block Diagram Function
- Page 22 and 23: 22 Load a new firmware release SOFT
- Page 24 and 25: 24 User's Manual 5.1 Inmotion Techn
- Page 26 and 27: 26 Argument types executing results
- Page 28 and 29: 28 Mnemonic Operators PL2 NATIVE PO
- Page 30 and 31: 30 Compiler Symbols PL2 NATIVE POSI
- Page 32 and 33: 32 Compiler directives PL2 NATIVE P
- Page 34 and 35: 34 Compiler directives Warnings: No
- Page 36 and 37: 36 Spline function compilation dire
- Page 38 and 39: 38 Multiline Macro MACRO DEFINITION
- Page 41 and 42: PL2 Mnemonics GENERAL The general f
- Page 43 and 44: PL2 MNEMONICS Standard set Mnemonic
- Page 45 and 46: PL2 MNEMONICS TRACE RELATED MNEMONI
- Page 47 and 48: PL2 MNEMONICS Indexed Addressing Mn
- Page 49 and 50: PL2 MNEMONICS If r_length < r_Membe
- Page 51 and 52: PL2 MNEMONICS Text mode \000 Intern
- Page 53 and 54: Extended register groups INTRODUCTI
- Page 55 and 56: EXTENDED REGISTER GROUPS STACK HAND
- Page 57 and 58: EXTENDED REGISTER GROUPS RD1, Resol
- Page 59 and 60: EXTENDED REGISTER GROUPS RD1, Resol
- Page 61 and 62: EXTENDED REGISTER GROUPS RD1.FiltSp
- Page 63 and 64: EXTENDED REGISTER GROUPS RD2, Resol
- Page 65 and 66: EXTENDED REGISTER GROUPS RD2, Resol
- Page 67 and 68: EXTENDED REGISTER GROUPS RD2.ChkLow
- Page 69: EXTENDED REGISTER GROUPS Pos Inc Pr
- Page 73 and 74: EXTENDED REGISTER GROUPS MOTOR, MOT
- Page 75 and 76: EXTENDED REGISTER GROUPS 2-Pole: 81
- Page 77 and 78: EXTENDED REGISTER GROUPS Motor.Base
- Page 79 and 80: EXTENDED REGISTER GROUPS REG, PID R
- Page 81 and 82: EXTENDED REGISTER GROUPS GROUP MEMB
- Page 83 and 84: EXTENDED REGISTER GROUPS Positive T
- Page 85 and 86: EXTENDED REGISTER GROUPS Reg, PID r
- Page 87 and 88: EXTENDED REGISTER GROUPS Gear.Incr
- Page 89 and 90: EXTENDED REGISTER GROUPS GROUP MEMB
- Page 91 and 92: EXTENDED REGISTER GROUPS Gear, Elec
- Page 93 and 94: EXTENDED REGISTER GROUPS TMR, SYSTE
- Page 95 and 96: EXTENDED REGISTER GROUPS Tmr, Syste
- Page 97 and 98: EXTENDED REGISTER GROUPS RELATED IT
- Page 99 and 100: EXTENDED REGISTER GROUPS SysIo.ADC1
- Page 101 and 102: EXTENDED REGISTER GROUPS Bit10 (102
- Page 103 and 104: EXTENDED REGISTER GROUPS INT, INTER
- Page 105 and 106: EXTENDED REGISTER GROUPS Bit2 (4) =
- Page 107 and 108: EXTENDED REGISTER GROUPS Int, Inter
- Page 109 and 110: EXTENDED REGISTER GROUPS IN, DIGITA
- Page 111 and 112: EXTENDED REGISTER GROUPS X7A:6. In.
- Page 113 and 114: EXTENDED REGISTER GROUPS X7B:33. Ou
- Page 115 and 116: EXTENDED REGISTER GROUPS GROUP MEMB
- Page 117 and 118: EXTENDED REGISTER GROUPS Vector, In
- Page 119 and 120: EXTENDED REGISTER GROUPS CAPTURE, C
EXTENDED REGISTER GROUPS<br />
Pg.ASpeed<br />
3 -32767000.. 32767000 RW<br />
Pg, Pr<strong>of</strong>ile generator<br />
The actual set-speed (velocity) in increments-per-second.<br />
Pg.Speed 4 -32767000.. 327670000 RW<br />
The destination speed (velocity) in increments-per-second.<br />
Pg.PosSpeed 5 0..32767000 RW<br />
The maximum speed to use during positioning. If set to zero, the<br />
Pg.Speed value is used.<br />
Pg.Decel 6 0..2 31 -1 RW<br />
The same variable as Pg.Ret. The deceleration<br />
rate used for<br />
braking when completing a move in increments-per-second 2 .<br />
Pg.Ret 7 0..2 31 -1 RW<br />
The same variable as Pg.Decel. The deceleration<br />
rate used for<br />
braking when completing a move.<br />
Pg.ADecel 8 0..2 31 -1 R<br />
The actual deceleration used. Differs from Pg.Decel especially<br />
if Pg.RSlope is not zero.<br />
Pg.Dpos 9 -2 31 ..2 31 -1 RW<br />
The destination position for a positioning. This variable is<br />
manipulated by the POS xxx program statements, but can also<br />
be manipulated manually.<br />
Pg.RSlope 10 0..127 RW<br />
Creates a RC-like slope on the stop ramp at the end <strong>of</strong> a move.<br />
Used to allow a s<strong>of</strong>ter stop <strong>of</strong> the move. PG.RSlope = 0 gives a<br />
straight line and Pg.RSlope = 127 gives<br />
a maximum s<strong>of</strong>t stop.<br />
NOTE: Using large values <strong>of</strong> Pg.RSlope so<br />
the stop is very s<strong>of</strong>t<br />
makes the move’s completion time uncertain. Thus, in some<br />
cases, it may be more advantageous to wait for Pg.ASpeed to<br />
get below a predetermined low value than to wait for Pg.RDY to<br />
return TRUE. When Pg.RSlope is used<br />
then the initial<br />
deceleration will be larger that the setting <strong>of</strong> Pg.Decel.<br />
For Pg.RSlope = 127 the initial deceleration will be<br />
2 * Pg.Decel.<br />
Pg.RDY 11 0 1 R<br />
Used to see if a move Pos xxx or Pr<strong>of</strong>ile has completed. Returns<br />
to 1 when complete and 0 when incomplete. The Pg.Mode can<br />
also be used for this, but gives more details.<br />
Pg.ProScale 12 -2 31 .. 2 31 -1 RW<br />
The scale factor for pr<strong>of</strong>iles. Pg.ProScale multiplies the data<br />
obtained from the pr<strong>of</strong>ile and the result is then divided by 1024.<br />
If the value in the PDATA * Pg.ProScale is greater<br />
than 2 47 ,<br />
the pr<strong>of</strong>ile generator gets an overflow and the pr<strong>of</strong>ile is aborted.<br />
User's Manual 5.1 Inmotion Technologies AB<br />
Doc. No.9032 0027 01 (B), Rev. 11.07.2001<br />
71
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