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--- en:appnote:an009 [2017/05/04 15:15] – [AN009 - Example of using and calibrating the OOPOS3 device] qem103
+++ en:appnote:an009 [2019/08/29 17:01] (current) – external edit 127.0.0.1
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+====== AN009 - Example of using and calibrating the OOPOS3 device ======
+In this section you want to describe the first operations that you will be doing the user in his first approach with the EANPOS device. You also want to provide a simple example where using the OOPOS3 device to implement a positioner.
+We can divide the procedure into the following sections:
+  * device declaration in the configuration unit
+  * introduction of parameters to calibrate inputs and outputs
+  * application Development as required
+{{:software:devices:oopos3:an009:an_camming3_01.png?nolink600|}}
+==== Device declaration in the configuration unit ====
+As has already been explained in the Description section of the OOPOS3 device, You must program correctly the configuration unit of the application. It is very important that the code portion where device is declared, here you will need to indicate the hardware resources to be used to ensure proper operation. It will be the task of the programmer to identify and choose the most appropriate inputs and outputs. For example, with the following line of code:
+<code QCl>
+;---------------------------------
+; Internal device declaration
+;---------------------------------
+INTDEVICE
+Axis  OOPOS3  0004  2.CNT01 1 3.INP01 2.OUT01 2.OUT02 X.X X.X 2.OUT3  X.X
+</code>
+You define a OOPOS3 device with the name "axis" whose sampling time is 4 ms. Have been declared the following hardware resources: the input of the bidirectional counter, the digital input number for interruption dedicated to the encoder zero pulse, a digital input of enabling for the acquisition of the zero pulse. The movement outputs that have been declared are: 2.OUT01 as forward output, 2.OUT02 as backward output and 2.OUT03 as slow-down output.
+An application that only has the device declaration within the configuration unit and a QCL unit that does not execute any operation (Except WAIT forced) It already allows you to do the first steps using the features of the device. After you download the application on the instrument and having it run, you will can already change the parameters, observe the states or give commands to the device via the monitor provided by Qview.\\
+This is very convenient in the early stages of programming when you just want to check for some operations or when you're debugging.
+==== Connecting the hardware ====
+The OOPOS3 device requires some hardware resources such as an input counter for two-way transducer (CNTxx) and the digital outputs.
+=== Verifying how the Counter resource works ===
+The following procedure is used to verify the operation of the counter input.
+  * Initialize the Axis device with the //INIT// command
+  <code QCL>
+  INIT Axis
+  </code>
+  * Check //st_init// status activation
+  <code QCL>
+  WAIT Axis:st_init
+  </code>
+  * Enter the values for //measure// and //pulse//
+  <code QCL>
+  Axis:measure = 1000
+  Axis:pulse = 4000
+  </code>
+  * Reset the value of the //posit// parameter
+  <code QCL>
+  Axis:posit = 0
+  </code>
+  * Move the Axis forward Running a complete turn to the encoder: verify that the value of the //Axis:posit// variable is positive and corresponds to the number of pulse/Rev of the encoder (with the value of //measure// and //pulse// above recommended)
+  * If the value of //Axis:posit// is negative, swap the encoder phases or give a //CNTREV// command
+  * If the value of //Axis:posit// remains at zero, Check the electrical connections or the //st_cntlock// flag
+=== Verifica del funzionamento delle uscite digitali ===
+^:important:^Attention:\\ Before handling the axis, verify proper operation of emergency equipment and protection.^
+The following procedure is used to verify the operation of the digital outputs of forward, backward and slow-down moving the axis with manual device controls.\\
+To continue, verify that the Axis device is initialized and with the //measure// and //pulse// value correct.
+  * Set the device software limits to the maximum value.\\ Enter the 999999 value in the //maxpos// parameter and the -999999 value in the //minpos// parameter.
+  <code QCL>
+  Axis:maxpos = 999999
+  Axis:minpos = -999999sse:posit = 0
+  </code>
+  * Give the //MANFFW// command to make turn the only forward output
+  <code QCL>
+  MANFFW Axis
+  </code>
+  * To verify the correctly execution of the command, check that //st_still// = 0 and //st_movfwd// = 1
+  <code QCL>
+  WAIT NOT Axis:st_still AND Axis:st_movfwd
+  </code>
+  * Check if the axis moves forward and that the count shown in //Asse:posit// increase, then stop the movement with the //STOP// command
+  <code QCL>
+  STOP Axis
+  </code>
+  * If the forward output, corresponding for example to the 2.OUT01 resource, does not activate, check the electrical connection
+  * Give the MANFBW command To activate the backward output only
+  <code QCL>
+  MANFBW Axis
+  </code>
+  * To verify that the command is running correctly, check that //st_still// = 0 and //st_movbwd// = 1
+  <code QCL>
+  WAIT NOT Axis:st_still AND Axis:st_movbwd
+  </code>
+  * Check if the axle moves backward and that the count showed in //Axis:posit// decrements, quindi interrompere il movimento con il //STOP// comando.
+  <code QCL>
+  STOP Axis
+  </code>
+  * If the backward output, for example the resource 2.OUT02, does not activate, check the electrical connection
+  * Give the MANSFW command to enable the forward outputs and slow-down
+  <code QCL>
+  MANSFW Axis
+  </code>
+  * To verify that the command is running correctly, check that the //st_stil//l = 0, //st_movfwd// = 1 and //st_movslow// = 1
+  <code QCL>
+  WAIT NOT Axis:st_still AND Axis:st_movfwd AND Axis:st_movslow
+  </code>
+  * Check if the axis moves forward at a speed lower than the previous and that the count showed in Axis:posit increase, then end the movement with the STOP command
+  <code QCL>
+  STOP Axis
+  </code>
+  * If the slow-down output, for example the resource 2.OUT03, does not activate, check the electrical connection.
+==== Correct parameterization of the device ====
+After you correctly declare the hardware resources to use you must set some parameters based on the components that are attached to the Qmove product.
+=== Measure and pulse introduction ===
+Let us consider the case In which the bidirectional transducer is a digital encoder. Suppose that the encoder is directly keyed on a motor that must move the axis. You will need to set correctly the //measure// and //pulse//parameters of the device so that it can interpret the pulses arriving at QMove, the instrument will then calculate the position of the axis. The //measure// and //pulse// introduction Establishes a match between a space in a selected unit of measure and a certain number of pulses. In the event that the user already knows the path space in a encoder round Then you can proceed directly to the input of the values.\\
+We clarify this concept with an example: If the encoder generates 1000 pulses turn and you know that the axis moves about 5 cm when the encoder execute a complete precisely round then you can enter the following values:
+<code QCL>
+AxisX:measure = 50;
+AxisX:pulse = 4000
+</code>
+The //measure// value introduced It also implies the choice of a unit of measure of millimeter to measure the positions, in the //pulse// parameter A value equal to the number of encoder pulses has been introduced multiplied x 4. You remember that the //measure/pulse// ratio must have a value between 0.00935 and 1. It is important to emphasize that the values just described are taken as a reference: it's not necessary to introduce the parameters taking as reference an encoder lap as you will describe below.
+When the user does not know in advance the measurement parameters, you can still correct the calibration by following these steps:
+  * give the //INIT// command to device, check that the //st_init// state switch to 1
+  * through the "device monitor" of QView shown the //posit// parameter value on the PC
+  * set //measure// and //pulse// both to 1 value
+  * move the axis manually making it a move of an easily measurable position
+  * read the //posit// value
+  * now insert with the desired measurement unit the measured value in the //measure// parameter and the value of the //posit// parameter in the //pulse// parameter
+The encoder resolution is now correctly set.
+A further important task to do is set the //maxpos// and //minpos// parameters that respectively, define the maximum and minimum position to be reached by the axis.
+=== Choosing the speed measurement unit ===
+The unit of measurement of the instantaneous axis speed is chosen using the //unitvel// and //decpt// parameters. You can choose the speed time unit with the //unitvel// parameter: if this is 0 the speed is measured in Um/min, if is to 1 is measured in Um/s. The //decpt// parameter Instead it determines whether to measure the speed values in multiples of the fundamental unit of measure Um. For example, if the fundamental unit of measure Um=mm, and unitvel=1 You get the speed show in the vel in variable:\\
+mm/s (with decpt = 0),\\
+cm/s (with decpt = 1),\\
+dm/s (with decpt = 2),\\
+m/s (with decpt = 3).\\
+Later, if necessary, you should to properly configure the display on the operator terminal to adjust the correct position of the decimal point.
+=== Basic parameterizations ===
+To operate the device OOPOS3 properly, you must enter some basic parameters.
+  * Determine the software limits to be introduced in the //maxpos// and //minpos// parameters
+  <code QCL>
+  Axis:minpos = xxx (xxx = minimum value of the axis expressed in Um)
+  Axis:maxpos = yyy (yyy = maximum value of the axis expressed in Um)
+  </code>
+  * If you are using a two-speed system, set the required space for the axis to move from high speed to slow speed to the activation of the deceleration output; enter the data in the //slowpos//parameter
+  <code QCL>
+  Axis:slowpos = zzz (zzz = slow-down value of the axis expressed in Um)
+  </code>
+  * Set the off time of the motion output when the axis enters the deceleration band so that the activation of the slow-down output does not cause electrical failure. Insert the data in the //slowdly// parameter.
+  <code QCL>
+  Axis:slowdly = ttt (ttt = deceleration time expressed in s/100)
+  </code>
+  * Set the tolerance limits that you want to achieve during placement in the //tollp// and //tolln// parameters. As the first setting, introduce higher values to the required accuracy.
+  <code QCL>
+  Axis:tollp = tpx (tpx = positive tolerance Value expressed in Um/10)
+  Axis:tolln = tnx (tpn = negative tolerance Value expressed in Um/10)
+  </code>
+  * Set the reverse time of axis in //tinv// parameter
+  <code QCL>
+  Axis:tinv = inversion time expressed in s/100
+  </code>
+  * Consider a single inertia band throughout the axis, then set the //ninert// parameter to 1
+  <code QCL>
+  Axis:ninert = 1
+  </code>
+  * Enable inertia recalculation When the positioning ends out tolerance: then set the //inertmode// parameter to 1
+  <code QCL>
+  Axis:inertmode = 1
+  </code>
+  * Set the tolerance activation delay time, considering the time it takes the axle to decelerate until it stops; then set the //toldly// parameter
+  <code QCL>
+  Axis:toldly = tdly (tdly = time delay activation tolerance expressed in ms)
+  </code>
+=== Setting maxvel parameter ===
+If you are not aware of the declared maximum motor speed, you must do so:
+  * enter in calibration mode (as described above)
+  * if the system allows it to supply to the drive the voltage and read the value of the //vel// parameter
+  * calculate the maximum speed with the proportion //vout// : 10 V = //vel// : //maxvel//
+Now you can enter the maximum speed value in the //maxvel// parameter.
+==== Handling ====
+The procedures described here have allowed to complete the steps of defining the hardware resources necessary for the device, verification of electrical connections, setting the device's fundamental parameters.\\
+Now it is possible to carry out a simple movement of the.
+  * Move the axis to a position so that it can make a certain space without meeting the maximum limit switches
+  * Reset the counter (//posit// = 0 parameter)
+  * Set the placement quota (//setpos// parameter)
+  <code QCL>
+  Axis:setpos = Placement Quota (in Um Included between minpos and maxpos)
+  Start positioning (START command)
+  START Axis
+  </code>
+  * To interrupt the positioning use the STOP command
+==== Development of an application that implements a positioner ====
+In the previous section was explained what are the first steps to follow for an axis handling procedure. This example only uses a narrow spectrum of settable parameters of the device, In this section we insert a sample code, commented, from which the user can take a cue to develop an application.\\
+The way the device should be declared is explained previously, Therefore, this section omits the configuration unit. [[#Device declaration in the configuration unit|See here.]]
+<code QCL>
+;*************************************************************************************
+; Configuration unit (are reported only the declarations of variables and
+; the bus and device declarations are omitted)
+;*************************************************************************************
+;-------------------------------------------------------------------------------------
+; SYSTEM variables definition
+;-------------------------------------------------------------------------------------
+SYSTEM
+slQuotaPos L                  ;Variable for placement quota
+;-------------------------------------------------------------------------------------
+; GLOBAL variables definition
+;-------------------------------------------------------------------------------------
+GLOBAL
+gfMovMan F                    ;Flag reporting manual movements in progress
+gfMovAuto F                   ;Flag reporting automatic movements in progress
+;-------------------------------------------------------------------------------------
+; INPUT variables definition
+;-------------------------------------------------------------------------------------
+INPUT
+ifAvMan F 2.INP01             ;Manual forward Input
+ifInMan F 2.INP02             ;Manual backward input
+ifStart F 2.INP03             ;START input axis
+ifStop  F 2.INP04             ;STOP input axis
+;-------------------------------------------------------------------------------------
+; OUTPUT variables definition
+;-------------------------------------------------------------------------------------
+OUTPUT
+ofToll F 2.OUT01              ;Axis Output in tolerance
+;*************************************************************************************
+; Unit qcl
+;*************************************************************************************
+;-------------------------------------------------------------------------------------
+; Device parameterization Operations
+;-------------------------------------------------------------------------------------
+Axis:measure = 10000
+Axis:pulse = 40000            ;how to calculate measure and pulse is explained in the appropriate section.*
+Axis:maxvel = 100000          ;How to calculate Maxvel is explained in the appropriate section.*
+Axis:maxpos = 999999          ;Maximum quota
+Axis:minpos = -999999         ;Minimum quota
+Axis:slowpos = 100            ;Slow-down quota
+Axis:tollp = 10               ;Positive tolerance
+Axis:tolln = 50               ;Negative tolerance
+Axis:slowdly = 50             ;Slow-down time
+Axis:tbrake = 30              ;Brake Intervention Time
+Axis:overpos = 0              ;Over-quota Recovery play
+Axis:bklashmode = 0           ;Mode Recovery play
+Axis:ninert = 1               ;Number of inertia bands
+Axis:maxiner = 100            ;Maximum inertia after recalculation
+Axis:inertmode = 1            ;Mode inertia recalculation
+Axis:tool = 0                 ;Tool thickness
+Axis:dobiner = 0              ;Mode forward/backward inertia
+Axis:enstol = 0               ;Enable START with axis in tolerance
+Axis:unitvel = 0              ;Speed Time Unit (speed in Um/min)
+Axis:decpt = 0                ;Decimal digits in speed calculation
+Axis:tinv = 50                ;Axis inversion Time
+Axis:toll = 5                 ;Tolerance (set in Um)
+Axis:toldly = 10              ;Time Delay activation tolerance status
+Axis:prsmode = 0              ;Homing function mode
+Axis:prspos = 0               ;Homing offset
+Axis:prsdir = 0               ;Direction of movement for home location search
+Axis:prsvel = (20 * Axis:maxvel)/100  ;Search speed for activation digital input enabling (20% of the max.vel.)
+Axis:sprsvel = (10 * Axis:maxvel)/100 ;Search speed of the home position (10% of the max.vel.)
+Axis:breaktype = 0            ;Brake Intervention Logic
+Axis:slowtype = 0             ;Slow-down calculation type
+Axis:maxslow = 8              ;Slow-down Maximum calculated
+Axis:minslow = 80             ;Slow-down Minimum calculated
+INIT Axis                     ;Initializes the device
+WAIT Axis:st_init             ;Wait for the device to be initialized
+CNTUNLOCK Axis                ;Unlock location capture
+WAIT NOT Axis:st_cntlock      ;Wait for the capture of the location to be unlocked
+CNTDIR Axis                   ;Sets the way of position acquisition
+WAIT NOT Axis:st_cntrev       ;Wait for the way of position acquisition to be set
+REGON Axis                    ;Enable adjustment
+WAIT NOT Axis:st_regoff       ;Wait for the adjustment to be enabled
+IF (slQuotaPos EQ 0)          ;If the axis placement quota is zero
+  slQuotaPos = 2000           ;Set a placement quota
+ENDIF
+;-------------------------------------------------------------------------------------
+; Positioning operations
+;-------------------------------------------------------------------------------------
+; ---------------------------------- Used Variables ----------------------------------
+; slQuotaPos: Settable variable representing the axis placement dimension
+; ------------------------------------- Used flags -----------------------------------
+; gfMovMan:   Manual movement in progress
+; gfMovAuto:  Automatic movement in progress
+;-------------------------------------------------------------------------------------
+MAIN:
+;-------------------------------------------------------------------------------------
+; Outputs management
+;-------------------------------------------------------------------------------------
+ofToll = Axis:st_toll         ;Set the tolerance output as the tolerance status
+;-------------------------------------------------------------------------------------
+; Automatic movement management
+;-------------------------------------------------------------------------------------
+IF ifStart                          ;Waits for the START input
+  IF NOT gfMovMan                   ;Check that there are no manual movements
+    IF Axis:st_still                ;Check that the axis is stopped
+      Axis:setpos = slQuotaPos      ;Set the placement quota
+      START Axis                    ;Executes the start of the axis
+      gfMovAuto = 1                 ;Report automatic movement in progress
+    ENDIF
+  ENDIF
+ENDIF
+IF ifStop                           ;Waits for the STOP input
+  IF NOT Axis:st_still              ;Check that the axle is NOT stopped
+    STOP Axis                       ;Executes the axis STOP
+  ENDIF
+ENDIF
+IF gfMovAuto                        ;Check automatic motion reporting in progress
+  IF Axis:st_still                  ;Check that the axle is stopped
+    gfMovAuto = 0                   ;Reset Automatic Motion Status
+  ENDIF
+ENDIF
+;-------------------------------------------------------------------------------------
+; Manual movement management (JOG)
+;-------------------------------------------------------------------------------------
+IF ifAvMan                          ;Wait for manual motion input
+  IF NOT (gfMovAuto OR gfMovMan)    ;Check that there are no automatic or manual movements in progress
+    IF Axis:st_still                ;Check that the axle is stopped
+      MANFFW Axis                   ;Forward axis in manual
+      gfMovMan = 1                  ;Manual movement in progress reports
+    ENDIF
+  ENDIF
+ENDIF
+IF ifInMan                          ;Wait for manual motion input
+  IF NOT (gfMovAuto OR gfMovMan)    ;Check that there are no automatic or manual movements in progress
+    IF Axis:st_still                ;Check that the axle is stopped
+      MANFBW Axis                   ;Forward axis in manual
+      gfMovMan = 1                  ;Report Manual movement in progress
+    ENDIF
+  ENDIF
+ENDIF
+IF gfMovMan                         ;If the axis moves in manual
+  IF NOT (ifAvMan OR ifInMan)       ;If the manual forward and backward inputs are off
+    STOP Axis                       ;Stop the axis
+    gfMovMan = 0                    ;Remove the manual moving axis signal
+  ENDIF
+ENDIF
+;-------------------------------------------------------------------------------------
+; Final operations
+;-------------------------------------------------------------------------------------
+WAIT 1
+JUMP MAIN
+END
+</code>
+[[#Measure and pulse introduction|How to calculate measure and pulse is explained in the appropriate section.]]