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:
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:
;--------------------------------- ; Internal device declaration ;--------------------------------- INTDEVICE Axis OOPOS3 0004 2.CNT01 1 3.INP01 2.OUT01 2.OUT02 X.X X.X 2.OUT3 X.X
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.
The OOPOS3 device requires some hardware resources such as an input counter for two-way transducer (CNTxx) and the digital outputs.
The following procedure is used to verify the operation of the counter input.
INIT Axis
WAIT Axis:st_init
Axis:measure = 1000 Axis:pulse = 4000
Axis:posit = 0
![]() | Attention: Before handling the axis, verify proper operation of emergency equipment and protection. |
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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.
Axis:maxpos = 999999 Axis:minpos = -999999sse:posit = 0
MANFFW Axis
WAIT NOT Axis:st_still AND Axis:st_movfwd
STOP Axis
MANFBW Axis
WAIT NOT Axis:st_still AND Axis:st_movbwd
STOP Axis
MANSFW Axis
WAIT NOT Axis:st_still AND Axis:st_movfwd AND Axis:st_movslow
STOP Axis
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.
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 pulseparameters 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:
AxisX:measure = 50; AxisX:pulse = 4000
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:
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.
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.
To operate the device OOPOS3 properly, you must enter some basic parameters.
Axis:minpos = xxx (xxx = minimum value of the axis expressed in Um) Axis:maxpos = yyy (yyy = maximum value of the axis expressed in Um)
Axis:slowpos = zzz (zzz = slow-down value of the axis expressed in Um)
Axis:slowdly = ttt (ttt = deceleration time expressed in s/100)
Axis:tollp = tpx (tpx = positive tolerance Value expressed in Um/10) Axis:tolln = tnx (tpn = negative tolerance Value expressed in Um/10)
Axis:tinv = inversion time expressed in s/100
Axis:ninert = 1
Axis:inertmode = 1
Axis:toldly = tdly (tdly = time delay activation tolerance expressed in ms)
If you are not aware of the declared maximum motor speed, you must do so:
Now you can enter the maximum speed value in the maxvel parameter.
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.
Axis:setpos = Placement Quota (in Um Included between minpos and maxpos) Start positioning (START command) START Axis
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. See here.
;************************************************************************************* ; 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
How to calculate measure and pulse is explained in the appropriate section.