• The internal ANPOS device is a tool that allows to manage the movement of a mechanical axis with a trapezoidal ramps to analog command.
• The main function of the device is to generate a trajectory or 'speed profile' that if converted into a proportional voltage signal, commands the motor through a drive.
• The device includes a feed-back process on the measurement taken from the position transducer. This measure compared to generate feedback.
• The control voltage for operation is generated by a hardware DAC (Digital to Analogic Converter) of the BUS QMOVE.
• To sync the device with the actual axis position returned by the axis, there is a special procedure for moving called 'presets search'.
• The feed-back is the PID+FF type (proportional, integral, derivative and feed-forward).
  Wiring and connections of the equipment described in this manual, muust comply with the European standard EN60204-1.

In the configuration unit, the BUS section must be declared so that so that you have the hardware resources required for the implementation of the device ANPOS. There must be at least a bi-directional counter and a 16-bit resolution analog output. The device can also used an input and an interrupt line for preset search functions.
In the INTDEVICE section of the configuration unit must be add the following definition:

;---------------------------------
; Device declarations
;---------------------------------
INTDEVICE
..
<device_name>  ANPOS  TCamp  ICont  IntL  IAZero  IOutA

	It is necessary that each definition are present on the same line. In case you don't want to assign a resource, for example IAZero, you must enter in the appropriate field the X.X or X string.

where:

;---------------------------------
; Device declarations
;---------------------------------
INTDEVICE
Asse_X    ANPOS 2   2.CNT02  3  3.INP01  3.AN01

The ANPOS device acquires the position of axis via bi-directional transmitter signals; these signals are used by an internal counter. This counter does not show directly the position of the axis in the unit of measure required by your application. The cntratio parameter is used to express the relationship between pulses transducer and the corresponding application units. The permitted values for this parameter are 0,00374 ÷ 4 with five precision digits. The report must be introduced in parameter as an integer, and then multiplied by 100000.
cntratio = (value in um) x 10 ^{decimal digits} / (corresponding transmitter pulse) x 100000

If for the selected measure unit is also provided for the presence of a decimal point, the positions must be represented always as an integer value and represent space on the measure unit without the decimal point. The resolution must be calculated with the same formula and the numerator the measure without decimal point. The decimal point will be entered in the value representing the time viewers (example as properties in the terminal operator).

The speeds are always expressed in whole units of measure in the unit of time choice. From this it emerges that the device must know the location of the decimal point of the unit of measure and this is done with the decpt parameter. This parameter can take 0÷3 values.

	To activate this device send the INIT command.

• You want to represent the positions in centimeters with a decimal point.
• In 18.2cm of the space the transducer generates 500 pulses.

To calculate the resolution you have to consider the space runs represented in terms of the measuring mm unit. For this the resolution is:
cntratio = (18.2 x 10¹ / 500) x 100000 = 36400

The settings must be:
Axis:cntratio = 36400
Axis:decpt = 1

To run a placement at 146 cm, put
Axis:setpos = 1460

For setting the 10 centimeters per second must put:
Axis:unitvel = 1
Axis:setvel = 10

	Before starting actual placements you must make sure that electrical connections and mechanical appliances have not cause malfunctions.

For axis management, thee ANPOS device using an analogue output with 16-bit resolution with 10 V range ± and sign; with the calibration function this analog output can be driven with a constant value in order to test links and functionality.

• Remove the emergency condition with the RESUME command.
• The st_emrg state = 0
• Enable calibration axis status with the CALON command; the st_cal state must therefore take the value 1.
• Now you can set the analog with voltage vout paramenter; the value is expressed in tenths of a volt (-100 ÷ 100 = -10 ÷ 10 V). It is recommended to introduce low values (5, 10, 15 … like 0.5, 1, 1,5 V).
• When the axis is moving the frq parameter indicates the frequency in Hz of the transducer phases.
• The parameter posit displaying the location, varies the space indicating axis. If setting a positive voltage the counter decreases, it is necessary to invert the phases of the transducer or reverse the drive directions.
• You can reverse the direction of the count using the CNTREV command.
• If output voltage equal to zero the axis is not stationary, adjust the offset parameter to correct the voltage until movement stops. The input value (each bit corresponds to approximately 0.3 mV), will be added algebraically to the value of the analogue output; This operation allows to compensate for any drift in the electronic component, and output from QMOVE that entering the drive. The value is expressed in bits with sign.
  For an optimal result of calibration this operation must be performed with the system to temperature capacity..
• To disable calibration status send the CALOFF command.
• The state st_cal = 0

The ANPOS device raises the voltage value of the analogue output on the basis between the maximum speed of the axis and the maximum output voltage proportion. La proporzionalità è ottenuta with the maxvel parameter, maximum axis speed representative on the analog voltage (10 V). The axis must behave symmetrical analog voltage to zero, therefore the speed must be the same on both the positive and negative voltage at maximum.
Before you determine the value of the maximum speed, must establish the unit of time to use for the representation of the speed in the device; the unitvel parameter defines the unit of time of speed (Um/min or Um/s).

The theoretical method is a calculation that was performed on the basis of the maximum speed of the motor. Set the maximum revolutions per minute engine declared, we get the maximum speed.
Setting in the maxvel parameter the maximum speed value calculated.

The practical way is based on the reading of the speed detected by the device in the vel variable, giving the drive a voltage. To provide the voltage to drive the device should be placed in a position of calibration as described in the previous paragraph. If the system permits, supply voltage operation of 10 V and read the speed value in the vel parameter. If, on the backwards, is an excerpt of the output voltage (1, 2, … 5 V), calculate the maximum speed with the proportion: vout : 10 [V] = vel : maxvel

Enter the maximum speed value found in maxvel parameter.

	Before handling the Board, check the proper operation of emergency equipment and protection.

The procedures were allowed to complete the first phase of device settings. Now you can run smooth movement of the axis.

• Move the axis in a position whereby it can fulfill a certain area without touching the maximum quota limit.
• Set the current position of the axis to zero, by setting the posit parameter = 0.
• Set up the parameters that define the position of the limit switches software: minpos = 0 and maxpos to the value of the maximum stroke of the axis.
• Set the parameter that defines the time from the axis to reach the maximum speed taccdec = 100. This parameter is expressed in hundredths of a second (100 = 1 sec.)
• Set the speed of positioning with the setvel parameter.
• Set the target altitude with the setpos parameter.
• Set the feedforward parameter = 1000 (100%)
• If the device is in Emergency State of (st_emrg = 1) give the RESUME command.
• Start positioning with the START command. To stop the movement give the EMRG command.

This first movement was done without speed feedback space. The placement may have been executed with some error introduced by the non-linearity of the components or imperfection in the maximum velocity calibration. Then if you enable feedback of space this error goes away.

The placement made in the preceding paragraph has been made without considering any position errors.
To check the correct position of the axis continuously and automatically, you must have a feed-back on the position; for this reason introduces the control PID + FF algorithm including proportional, integral, derivative actions and feed-forward; the value of the analog output is given by the summation of actions feed forward, proportional, derivative and integrative.
This section describes a series of actions to adjust the parameters that affect this control.
In order to achieve a satisfactory adjustment is sufficient to use only the feedforward and proportional actions; integral and derivative actions are used only for adjustments under special conditions.

The feed-forward helps make the system more ready on positioning, by providing the analog output voltage proportional to the theoretical speed of positioning.
The contribution of this action can be adjusted with the feedfw parameter; this parameter is expressed as a portion of millesimal theoretical speed; so, to introduce such as 98.5% you must set 985 (MILS).

This action provides an proportional output to the instantaneous axis position error. The size of the proportional action is defined by the pgain parameter that defines the sensitivity of the system.
The pgain parameter is introduced in thousandths; the unit value of the gain (1000) provides an analog output to maximum value (10 V) concerning the maximum speed error. For maximum speed error means the space taken by axis - at the max speed - for the duration of the sampling time of the device.

Integrates the position error of the system over time set in integt parameter updating the output until the error is reset.
More decreases the integration time of the error, more faster the recovery system error, but the system may become unstable and swung.

Anticipates the change of the motion of the system tends to eliminate the overshoot the positioning. The size of change is calculated over time set in derivt parameter.
More higher the time of derivation of error and more faster is the transient error recovery system, But if you enter a value that is too high the system becomes unstable, tending to fluctuate.

Searching for presets is a procedure to synchronize the counter (posit parameter) with the real position of the axis. Can be performed in 3 different ways according to the prsmode parameter.

• In order to execute a search preset input is needed (acquired via the QMOVE BUS) we call 'enabling zero transducer'. In this trajectory, the axis must activate this input into a particular point.
• The preset search procedure is started with the PRESET command; early counting from QMOVE can have any value and can be located anywhere.
• The axis must direct towards the cam allows the upload of preset. Not knowing which way to direct the axis to meet the enable input, search for preset lets you choose two solutions with the prsdir parameter:
  prsdir =0 the axis will always a movement forward
  prsdir =1 the axis will always a movement back
• If during the preset search is given a PRESET command, the direction of motion of the axis is reversed.
• Note that the share of presets contained in the prspos parameter must be always between the minimum and the maximum quota and after the preset quota load, the axis is automatically positioned to the preset quota.
• When searching preset the software limits maxpos and minpos are disabled.
• When you set the search speed zero pulse - sprsvel - we must consider that in the 0 Mode the input has a hardware filter that delays the acquisition and therefore influence the precision of the loading. In the 1 Mode, the acquisition is made on interrupt input, so the speed is not determinative. We must ensure that the operating time of the zero-pulse is sufficient to be acquired from the card. In order to know the acquisition time of the entrance and the minimum time of zero pulse signal refer to the technical documentation of the used cards.

If enable the preset search with the PRESET command, the axis towards the position where you active the enable zero-pulse input of transducer with speed define by prsvel. The st_prson state you turn to report the current preset. When, in this motion, the axis active the input, reverses direction and starts with sprsvel speed.
The operation depends from the selected mode of loading (Mode 0 or Mode 1).

	This procedure involves the movement of the axis and the use of the zero pulse enable input of the transducer.

The deactivation of the enable input zero-pulse transducer, the preset quota is loaded on the counter (parameter posit=prspos).
Next, you disable the st_prson status and activate the st_prsok state to signal the end of search. This state remains active until the starting of a new procedure of presets; at the system startup this State is always to zero. See the picture 1.

Picture 1: Loading presets using the only enabling cam.

	This procedure involves the movement of the axis and the use of the zero pulse and zero pulse enable input of the transducer.

At the deactivation of the enable input zero-pulse transducer, enables reading of the first zero-pulse provided by the transducer and on this signal, loads the preset quota in counting (parameter posit=prspos).
To load the share presets with 'Mode 1', the card which is attached to the zero-pulse trasducer must transmit this signal on one of the 8 hardware interrupt lines. The device must have been defined to use the same hardware interrupt line (see the definition in the .CNF file).
Subsequently, the axis is positioned at an presets quota, to disable the st_prson state and enable the st_prsok state for to signal the end of search; This State remains active until the starting of a new preset procedure. At the startup of the instrument the st_prsok parameter is always to zero. See the picture 2.

Picture 2: Loading presets using the enable cam and the zero pulse of transducer.

	This procedure does not provide for the handling of the axis and the use of the zero pulse enable transducer input.

With this procedure, the search for preset does not perform any positioning. The load command of the preset quota is provided by the activation of the enable zero encoder input and the st_prsok state is set to one.
If the input is active, the load is continuously, while if at the startup the input is already active, the first upload is executed only after its deactivation and activation.

In some applications are required to place a large number of axes by moving a single axis at a time. The design choice falls on installing just one drive that depending on the axis to be placed electrically connects the motor interested in positioning; the transducer is always bound to its axis.
The ANPOS device allows you to control access to the DAC device REGON and REGOFF commands. In this way through the QCL application defines a set of device many axes to be placed; in the definition, all devices use the same DAC resource. (IOutA).
Normally all devices must be in the st_regoff = 1 state so you will not have access to the DAC apparatus. Before you start positioning, with the REGON command, the device is brought to the st_regoff = 0 state. Runs the positioning and, at the completion, the device is returned in the st_regoff = 1 State with the REGOFF command. For no reason two devices simultaneously must be found in the st_regoff =0
state. When the device is placed in the regoff position, the analog output remains fixed at the last voltage value called before the REGOFF command.

	Changing the quota is accepted only if the new position is reached with direction in use and if the axis is not already when slowing down to reach the quota previously set.

In some applications is needed to define the target quota during the motion, according to external events to the device. This feature translates into the ability to write to the current setpos parameter even with current placements.

When positioning you can also change the value of the posit counter. This function is usually used when a device must under certain conditions, continue a speed profile for a very long time, that exceeds the time axis takes to reach the limit quota (maxpos or minpos).

When positioning it is possible to vary the speed of the axis without affecting the location to get to. This operation can lead to an increase or a decrease in velocity, even more points with the same placement. This operation is accomplished with new writing in the setvel parameter.

When positioning can be varied even acceleration/deceleration times. For example, the device can start a placement with a very short ramp and once they reach the speed set, varied the tacc parameter and do a change of speed with a very long ramp.
For special applications the ramp time can be varied even during a change of speed, in this case the new time is put into immediately execution.

	The command can be sent only if the axis is stopped, condition of st_still = 1.

The device always shows the absolute position of the axis; to execute the incremental placements is need a tool to subtract or add some value to the count (posit) without introducing errors. The change can also count with a direct writing to the new value in the posit parameter.
Wanting to steal 100 units of measure from the counter you can:
Axis:posit = Axis:posit - 100

	The changing at the value of resolution (cntratio) or the writing of the posit variable, causes the reset of the remnants of the conversion.

This operation introduces an error because it imposes the location 'posit = -100', when the axis could have an intermediate position between a unit of measurement and subsequent (ex. 100.3). This fraction (0.3) is lost and the repetition of these steps will the accumulation of a considerable error.
The DELCNT command sum the count an amount equal to the parameter delta without losing the fraction part of the position:
Axis:delta = -100
DELCNT Axis
The DELCNT command may be sent only with stationary axis (st_still=1)

The axis position is of 2 units and is located at point A. You want to add to the posit counter three measure units.
With instructions:
Axis:posit = Axis:posit + 2
the axis takes the new B position.
With instructions :
Axis:delta = 2
DELCNT Axis
C position is reached.

Note that with the first instructions the axis took a delta less than 3 units and this introduced an error.
If you need to send the succession DELCNT commands, It is convenient to calculate the value to be summed and send once the command; otherwise beware not to send subsequent commands without a read statement on device parameter.

Axis:delta = 3
DELCNT Axis
WAIT Axis:st_init
Axis:delta = 40
DELCNT Axis

The parameter name, condition or command is taken back to the left side of the table.

R
Indicates whether the parameter or state is retentive (upon initialization of the device maintains the previously defined state), or the state assumes upon initialization of the device.
If the device does not need to initialize the 'R' field dicates the value that the parameter or state accept to the startup card.
R = Retentive
0 = Upon initialization of the device the value is forced to zero.
1 = Upon initialization of the device the value is forced to one.
- = Upon initialization of the device is presented significant value.

D
Indicates the size of the parameter.
F = Flag
B = Byte
W = Word
L = Long
S = Single Float

Describes all the conditions necessary so that the parameter is considered correct or because the command is accepted.
In some cases, limit values are specified for the acceptance of the parameter: if set any values outside the limits, the data is accepted; but must be monitoring the application that provided to ensure the proper functioning.
To run a command, all the conditions must be met; otherwise the command does not run.

A
Indicates the access mode.
R = Read.
W = Write.
RW = Read / Write.

Controls were ranked by decreasing priority. For example, in the case of contemporary INIT and EMRG controls, is acquired first the INIT command.

No limitation

;*************************************************************************************
; Module Name: Ex_Anpos.CNF                 Project: Ex_ANPOS
; Autor: QEM srl                            Date: 01/05/99
; System: QMove1 / QCL3                     Library: 1LIB3B04
; Functionality: ANPOS management example   Release: 0
;------------------------------------- Note ------------------------------------------
; [1] - Sample application using device ANPOS
**************************************************************************************
 
;-------------------------------------------------------------------------------------
; Constants Defining
;-------------------------------------------------------------------------------------
CONST
 
;-------------------------------------------------------------------------------------
; Variable Definition SYSTEM
;-------------------------------------------------------------------------------------
SYSTEM
slQuotaPos   L                          ;Variable for placement quota
slVelAsse   L                           ;Variable for axis speed
 
;-------------------------------------------------------------------------------------
; Variable Definition GLOBAL
;-------------------------------------------------------------------------------------
GLOBAL
gfMovMan   F                            ;Flag signalling movements
                                        ;manuals in progress
gfMovAuto   F                           ;Flag signalling movements
                                        ;ongoing automatic
 
;-------------------------------------------------------------------------------------
; Variable Definition TIMER
;-------------------------------------------------------------------------------------
TIMER
 
;-------------------------------------------------------------------------------------
; Definition DATAGROUP
;-------------------------------------------------------------------------------------
;DATAGROUP
;-------------------------------------------------------------------------------------
; Bus Configuration
;-------------------------------------------------------------------------------------
BUS
     1  1CPUB   02
     2  1MIXA   00
     3  .
     4  .
 
;-------------------------------------------------------------------------------------
; Variable Definition INPUT
;-------------------------------------------------------------------------------------
INPUT
ifAvMan     F    2.INP01                ;Forward manual input
ifInMan     F    2.INP02                ;Backrìward manual input
ifStart     F    2.INP03                ;START input axis
ifStop      F    2.INP04                ;STOP input axis
 
;-------------------------------------------------------------------------------------
; Variable Definition OUTPUT
;-------------------------------------------------------------------------------------
OUTPUT
ofToll      F    2.OUT01                ;Output shaft tolerance
ofAxeFermo  F    2.OUT02                ;Output of stopped axis
 
;-------------------------------------------------------------------------------------
; Device declaration
;-------------------------------------------------------------------------------------
INTDEVICE
;Name   Type   TCamp   Counter   Inter   AbilZero  OutAnal
Asse    ANPOS  0004    2.CNT01     1       2.INP01   2.AN01
 
END

;*************************************************************************************
; File Name: TASK_00.MOD
; Project : EX_ANPOS
; Description: Positioning Management
;*************************************************************************************
 
;-------------------------------------------------------------------------------------
; Initialization work Axis
;-------------------------------------------------------------------------------------
Axis:cntratio = 100000                     ;Encoder resolution = Space in 1 tourn
                                           ;encoder(Um) / tourn pulse encoder
Axis:maxvel = 100000                       ;Max. speed = Axis speed with
                                           ;10V analog output (CALON/
vout=100)
Axis:maxpos = 999999                       ;Maximum quota
Axis:minpos = -999999                      ;Minimum quota
Axis:maxfollerr = 10000                    ;Tracking error
Axis:unitvel = 0                           ;Unit time speed
Axis:decpt = 0                             ;Decimal digits
Axis:rampmode = 0                          ;Type of used ramps
Axis:taccdec = 100                         ;Acceleration and deceleration time
Axis:tacc = 0                              ;Acceleration time (not used)
Axis:tdec = 0                              ;Deceleration time (not used)
Axis:tinv = 0                              ;Inversion axis time
Axis:toll = 5                              ;Tolerance
Axis:toldly = 10                           ;Time delay activation tolerance
Axis:prsmode = 0                           ;Preset search type
Axis:prspos = 0                            ;Preset quota
Axis:prsdir = 0                            ;Preset search direction
Axis:prsvel = (20 * Asse:maxvel)/100       ;Preset speed (20% of the
max. speed)
Axis:sprsvel = (10 * Asse:maxvel)/100      ;Pulse speed zero
                                           ;search (10% of the max. speed)
Axis:offset = 0                            ;Offset voltage
Axis:pgain = 10                            ;Proportional gain
Axis:feedfw = 1000                         ;Feedforward
Axis:integt = 0                            ;Integral time
Axis:derivt = 0                            ;Derivative time
INIT Axis                                  ;Initializes the device
WAIT Axis:st_init                          ;Wait until the device is initialized
CNTUNLOCK Axis                             ;Unlock counter
WAIT NOT Axis:st_cntlock                   ;Wait until the count is unlocked
CNTDIR Axis                                ;Sets the direction of the counter
WAIT NOT Axis:st_cntrev                    ;Wait until it is set the direction
                                           ;of the counter
REGON Axis                                 ;Enable the adjustment
WAIT NOT Axis:st_regoff                    ;Wait for enabling regulation
RESUME Axis                                ;Remove the axis from the emergency state
WAIT NOT Axis:st_emrg                      ;Wait until the axle is not in emergency
LOOPON Axis                                ;Snap reaction shaft loop
WAIT Axis:st_loopon                        ;Wait that is hooked on loop
                                           ;reaction of the axis
IF (slVelAxis EQ 0)                        ;In case the set of speed
                                           ;the axis is zero
  slVelAxis = 50                           ;Sets a positioning speed
ENDIF
IF (slQuotaPos EQ 0)                       ;In the event that the quota of
                                           ;positioning the axis is to zero
  slQuotaPos = 2000                        ;Sets a quota of positioning
ENDIF
 
;-------------------------------------------------------------------------------------
; Positioning tasks
;-------------------------------------------------------------------------------------
; ------------------------------- used variables -------------------------------------
; slVelAxis: Adjustable variable that represents the axis speed
; (declared in % of the max. speed)
; slQuotaPos: Adjustable variable that represents the share of axis positioning
; ---------------------------------- used flags----- ---------------------------------
; gfMovMan: manual operation in progress
; gfMovAuto: Automatic movement in progress
;-------------------------------------------------------------------------------------
MAIN:
;-------------------------------------------------------------------------------------
; Outputs management
;-------------------------------------------------------------------------------------
ofToll = Axis:st_toll                   ;Sets the output of tolerance as
                                        ;the tolerance state
ofAxeFermo = Axis:st_still              ;Sets the output of stationary axis as
                                        ;the status of stationary axis
 
;-------------------------------------------------------------------------------------
; Automatic movements managing
;-------------------------------------------------------------------------------------
IF ifStart                                      ;Waits for the START input
  IF NOT gfMovMan                               ;Check that there are no movements
                                                ;manuals
    IF Axis:st_still                            ;Check that the axis is stopped
      Axis:setvel=(slVelAxis*Axis:maxvel)/100   ;Sets the axis speed
      Axis:setpos = slQuotaPos                  ;Sets the placement quota
      START Axis                                ;Run the start of axis
      gfMovAuto = 1                             ;Automatic movement in progress reports
    ENDIF
  ENDIF
ENDIF
IF ifStop                                       ;Waits for the STOP input
  IF NOT Axis:st_still                          ;Check that the axle is not stationary
    STOP Axis                                   ;Run the stop of the axis
  ENDIF
ENDIF
IF gfMovAuto                                    ;Check reporting movement
                                                ;ongoing automatic
  IF Axis:st_still                              ;Check that the axis is stopped
    gfMovAuto = 0                               ;Reset status of automatic movement
  ENDIF
ENDIF
 
;-------------------------------------------------------------------------------------
; Manual movements management
;-------------------------------------------------------------------------------------
IF ifAvMan                                      ;Awaiting the entry of manual operation
  IF NOT (gfMovAuto OR gfMovMan)                ;Check that there are no movements
                                                ;automatic or manual
    IF Axis:st_still                            ;Check that the axis is stopped
      Axis:setvel=(slVelAxis*Axis:maxvel)/100   ;Sets the axis speed
        MANFW Axis                              ;Forward axis in manual
        gfMovMan = 1                            ;Manual movement in progress reports
      ENDIF
    ENDIF
ENDIF
IF ifInMan                                      ;Awaiting the entry of manual operation
  IF NOT (gfMovAuto OR gfMovMan)                ;Check that there are no movements
                                                ;automatic or manual
    IF Axis:st_still                            ;Check that the axis is stopped
      Axis:setvel=(slVelAxis*Axis:maxvel)/100   ;Sets the axis speed
      MANBW Asse                                ;Forward axis in manual
      gfMovMan = 1                              ;Manual movement in progress reports
    ENDIF
  ENDIF
ENDIF
 
IF gfMovMan                                     ;If the axis moves in manual
  IF NOT (ifAvMan OR ifInMan)                   ;If the inputs of forwards or backwars
                                                ;Manual are OFF
    STOP Axis                                   ;Stop the axis
    gfMovMan = 0                                ;Remove the reporting of axis
                                                ;Manual movement
  ENDIF
ENDIF
;-------------------------------------------------------------------------------------
; Final operations
;-------------------------------------------------------------------------------------
  WAIT 1
  JUMP MAIN
END