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| en:software:devices:camming3 [2016/10/28 15:19] – [3.9. Loop cam sector] qem103 | en:software:devices:camming3 [2020/07/13 14:51] (current) – qem103 | ||
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| - | ===== - Introduction ===== | + | ====== - Introduction |
| The camming, is a technique applicable to motion control servo axes and allows you to solve applications where one or more slave axes have spaces, uneven, too staying in sync with respect to the position of a reference axis called “master”. The master axis can be a real or virtual axis (the master simulated).\\ | The camming, is a technique applicable to motion control servo axes and allows you to solve applications where one or more slave axes have spaces, uneven, too staying in sync with respect to the position of a reference axis called “master”. The master axis can be a real or virtual axis (the master simulated).\\ | ||
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| * codeQsa Not used | * codeQsa Not used | ||
| * codeM Not used | * codeM Not used | ||
| - | ==== - Not operative sector ==== | + | ==== - The not operative sector ==== |
| The not operative sector (codeG = 130), is used to reserve areas to perform functions only under special conditions defined by the programmer.\\ | The not operative sector (codeG = 130), is used to reserve areas to perform functions only under special conditions defined by the programmer.\\ | ||
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| It is not possible to sequence more than 9 zero sampling areas. | It is not possible to sequence more than 9 zero sampling areas. | ||
| - | ==== - Update | + | ==== - The update |
| The update count is used to make an exchange of the count, to values that may indicate the actual physical location of the axis. The most typical case is the circular axis (from 0° to 360°): whenever you reach 360° you must subtract a circle. To make an update count there are multiple codes of subtraction or bit encoder count setting, whether that unit of measure. For how it is structured the device, it is not possible to sequence more than 4 sectors count update. The following table containing the description of what happens during the update count based on the code used. | The update count is used to make an exchange of the count, to values that may indicate the actual physical location of the axis. The most typical case is the circular axis (from 0° to 360°): whenever you reach 360° you must subtract a circle. To make an update count there are multiple codes of subtraction or bit encoder count setting, whether that unit of measure. For how it is structured the device, it is not possible to sequence more than 4 sectors count update. The following table containing the description of what happens during the update count based on the code used. | ||
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| **Sector 9** Deceleration with final zero speed, with a possible braking speed compensation in the first half of the stroke and negative shift slave (codeG = 135). | **Sector 9** Deceleration with final zero speed, with a possible braking speed compensation in the first half of the stroke and negative shift slave (codeG = 135). | ||
| - | After you run the sector 9, there must be a function that performs the power factor of the counter of the Master, subtracting the space covered until the end of the field and, subsequently, | + | After you run the sector 9, there must be a function that performs the power factor of the counter of the Master, subtracting the space covered until the end of the field and, subsequently, |
| ===== - Device errors management ===== | ===== - Device errors management ===== | ||
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| All functions of the inputs can be handled either on normal inputs on interrupt inputs.\\ To have a correct operation of the inputs, they are enabled by respecting the conditions set out in the description of the command or action described. | All functions of the inputs can be handled either on normal inputs on interrupt inputs.\\ To have a correct operation of the inputs, they are enabled by respecting the conditions set out in the description of the command or action described. | ||
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| - | |||
| ===== - Outputs configuration table ===== | ===== - Outputs configuration table ===== | ||
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| |prsmode|B|st_prson = 0|R|RdWr|**Preset mode** (0÷2)\\ Defines the type of the slave preset search:\\ **0** = For research enabling zero-pulse, the axis movement begins in, meet the enable signal, reverses direction slowing and, on falling edge relative to the signal of the slave axis, load the preset quota.\\ **1** = For research enabling zero-pulse, the axis movement begins in, meet the enable signal, reverses direction and slowly acquires the first zero-pulse (after disabling the enable input of the slave axis).\\ **2** =Does not activate the search procedure presets (st_prson = 0). The count is updated to the presets to the activation of the enabling zero-pulse of the slave axis.| | |prsmode|B|st_prson = 0|R|RdWr|**Preset mode** (0÷2)\\ Defines the type of the slave preset search:\\ **0** = For research enabling zero-pulse, the axis movement begins in, meet the enable signal, reverses direction slowing and, on falling edge relative to the signal of the slave axis, load the preset quota.\\ **1** = For research enabling zero-pulse, the axis movement begins in, meet the enable signal, reverses direction and slowly acquires the first zero-pulse (after disabling the enable input of the slave axis).\\ **2** =Does not activate the search procedure presets (st_prson = 0). The count is updated to the presets to the activation of the enabling zero-pulse of the slave axis.| | ||
| |prsmodem|B|st_prsonm = 0|R|RdWr|**Preset mode of master** (0÷2)\\ Preset mode of master\\ (0÷2)\\ Defines the type of preset search master:\\ **0** = If st_prsonm = 1, the count is updated to preset the deactivation of enabling zero-pulse of the master axis.\\ **1** = If st_prsonm = 1, the count is updated to preset quota when the zero-pulse after disabling the enable zero-pulse of the master axis.\\ **2** =Does not activate the presets search procedure (st_prsonm = 0). The count is updated to the presets to the activation of the enabling zero-pulse of the master axis.| | |prsmodem|B|st_prsonm = 0|R|RdWr|**Preset mode of master** (0÷2)\\ Preset mode of master\\ (0÷2)\\ Defines the type of preset search master:\\ **0** = If st_prsonm = 1, the count is updated to preset the deactivation of enabling zero-pulse of the master axis.\\ **1** = If st_prsonm = 1, the count is updated to preset quota when the zero-pulse after disabling the enable zero-pulse of the master axis.\\ **2** =Does not activate the presets search procedure (st_prsonm = 0). The count is updated to the presets to the activation of the enabling zero-pulse of the master axis.| | ||
| - | |prsdir|B|st_prson = 0|R|RdWr|**Preset search direction** (0÷1)\\ Defines the direction of movement research axis of the slave axis zero pulse enable switches.\\ **0** = the axis goes forward.\\ **1** = the axis go back.| | ||
| - | |mtype|B|-|R|RdWr|**Master type** (0÷1)\\ Defines the address of the master used:\\ **0** = The master is the encoder with address " | ||
| - | |ramptype|B|st_still = 0|R|RdWr|**Ramp type of slave** (0÷1)\\ Defines the type of slave ramps used in regular placements; in the execution of the cam fittings are always executed with trapezoidal ramps:\\ **0** = trapezoidal ramps. **1** = epicycloidal ramps.\\ (See the reference chapter).| | ||
| - | |rtype|B|-|R|RdWr|**Riduction profile type** (0÷1)\\ Defines the type of positioning the slave axis profile reduction if you selected flights of epicycloidal type (ramptype = 1).\\ **0** = Acceleration and deceleration times remain d and l those of the set speed and the speed is decreased proportionally.\\ **1** = Acceleration and deceleration times are decreased (maintaining the gradient acceleration and deceleration set) and also the same speed.\\ (See the reference chapter).| | ||
| |prsdir|B|st_prson = 0|R|RdWr|**Preset search direction** (0÷1)\\ Defines the direction of movement of the slave axis for research of the limit switch axis zero pulse enable.\\ **0** = the axis goes forward;\\ **1** = the axis goes backward.| | |prsdir|B|st_prson = 0|R|RdWr|**Preset search direction** (0÷1)\\ Defines the direction of movement of the slave axis for research of the limit switch axis zero pulse enable.\\ **0** = the axis goes forward;\\ **1** = the axis goes backward.| | ||
| |mtype|B|-|R|RdWr|**Master type** (0÷1)\\ Used Master address.\\ **0** = The master is the encoder with address " | |mtype|B|-|R|RdWr|**Master type** (0÷1)\\ Used Master address.\\ **0** = The master is the encoder with address " | ||
| - | |ramptype|B|st_still = 0|R|RdWr|**Ramp type of slave** (0÷1)\\ Type of slave ramps used in regular placements; in the execution of the cam fittings are always executed with trapezoidal ramps.\\ **0** = trapezoidal ramps;\\ **1** = epicicloidal ramps.\\ (See the chapter " | + | |ramptype|B|st_still = 0|R|RdWr|**Ramp type of slave** (0÷1)\\ Type of slave ramps used in regular placements; in the execution of the cam fittings are always executed with trapezoidal ramps.\\ **0** = trapezoidal ramps;\\ **1** = epicicloidal ramps.\\ (See the chapter " |
| |rtype|B|-|R|RdWr|**Riduction profile type** (0÷1)\\ Profile reducing type slave of the axis positioning if you have selected the epicicloidal ramps type (ramptype = 1).\\ **0** = Acceleration and deceleration times remain those of the set speed and is decreased proportionally speed;\\ **1** = Acceleration and deceleration times are decreased (maintaining the gradient acceleration and deceleration set) and also the speed.\\ (See the chapter " | |rtype|B|-|R|RdWr|**Riduction profile type** (0÷1)\\ Profile reducing type slave of the axis positioning if you have selected the epicicloidal ramps type (ramptype = 1).\\ **0** = Acceleration and deceleration times remain those of the set speed and is decreased proportionally speed;\\ **1** = Acceleration and deceleration times are decreased (maintaining the gradient acceleration and deceleration set) and also the speed.\\ (See the chapter " | ||
| |stopt|B|-|R|RdWr|**Stop type** (0÷1)\\ The type of braking that is used if stop slave axis positioning if you have selected flights of epicycloidal type (ramptype = 1).\\ **0** = When you run a braking ramp is first completed the acceleration ramp and then runs the deceleration ramp.\\ **1** = When such a braking ramp is immediately executed the deceleration ramp. \\ (see chapter " | |stopt|B|-|R|RdWr|**Stop type** (0÷1)\\ The type of braking that is used if stop slave axis positioning if you have selected flights of epicycloidal type (ramptype = 1).\\ **0** = When you run a braking ramp is first completed the acceleration ramp and then runs the deceleration ramp.\\ **1** = When such a braking ramp is immediately executed the deceleration ramp. \\ (see chapter " | ||
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| |delta1|L|-|R|RdWr|**Delta 1** (-2 31÷2 31-1)\\ General purpose variable. Used as a log for data exchange.| | |delta1|L|-|R|RdWr|**Delta 1** (-2 31÷2 31-1)\\ General purpose variable. Used as a log for data exchange.| | ||
| |delta2|L|-|R|RdWr|**Delta 2** (-2 31÷2 31-1)\\ General purpose variable. Used as a log for data exchange.| | |delta2|L|-|R|RdWr|**Delta 2** (-2 31÷2 31-1)\\ General purpose variable. Used as a log for data exchange.| | ||
| - | |setvel|L|-|R|RdWr|**Set velocity** (0÷maxvel)\\ The speed of the slave axis on placements. The input value is per unit of time of the set speed (Velocity unit).\\ If the axis is moving (st_still = 0) You can change the speed setpoint only if the new value is used to reach the setting quota..| | + | |setvel|L|-|R|RdWr|**Set velocity** (0÷maxvel)\\ The speed of the slave axis on placements. The input value is per unit of time of the set speed (Velocity unit).\\ If the axis is moving (st_still = 0) You can change the speed setpoint only if the new value is used to reach the setting quota.| |
| |setpos|L|-|R|RdWr|**Set position** (minpos÷maxpos)\\ The placement quota reached from slave axis at the speed setvel.| | |setpos|L|-|R|RdWr|**Set position** (minpos÷maxpos)\\ The placement quota reached from slave axis at the speed setvel.| | ||
| |rowex|W|-|0|Rd|**Row in use** (0÷128)\\ The number of the sector running.| | |rowex|W|-|0|Rd|**Row in use** (0÷128)\\ The number of the sector running.| | ||
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| |funOut|B|-|R|RdWr|**Programmable function of output** (0÷99)\\ Allows you to configure how the table output output configuration.\\ (See chapter)| | |funOut|B|-|R|RdWr|**Programmable function of output** (0÷99)\\ Allows you to configure how the table output output configuration.\\ (See chapter)| | ||
| |impcapt|B|-|0|RdWr|**Capture mode** (0÷2)\\ Defines how to capture input function for generic function (see configuration files).\\ **0** = Disable.\\ **1** = Single capture on falling edge.\\ **2** = Single capture on the rising edge.\\ The capture is enabled if the state st_enbl = 1.| | |impcapt|B|-|0|RdWr|**Capture mode** (0÷2)\\ Defines how to capture input function for generic function (see configuration files).\\ **0** = Disable.\\ **1** = Single capture on falling edge.\\ **2** = Single capture on the rising edge.\\ The capture is enabled if the state st_enbl = 1.| | ||
| - | |intcapt|B|-|0|RdWr|**Interrupt capture mode** (0÷2)\\ Defines how to capture the interrupt function (see configuration files).\\ **0** = Disable.\\ **1** = Single capture on falling | + | |intcapt|B|-|0|RdWr|**Interrupt capture mode** (0÷2)\\ Defines how to capture the interrupt function (see configuration files).\\ **0** = Disable.\\ **1** = Single capture on rising |
| |errcode|B|-|0|Rd|**Error code** (0÷100)\\ The type of failure intervened in the system. The code is valid only if st_error = 1 (See chapter).| | |errcode|B|-|0|Rd|**Error code** (0÷100)\\ The type of failure intervened in the system. The code is valid only if st_error = 1 (See chapter).| | ||
| |errvalue|B|-|0|Rd|**Error value** (0÷100)\\ Specifies the sector that caused the error in the system. The value is valid only if st_error = 1 (See chapter).| | |errvalue|B|-|0|Rd|**Error value** (0÷100)\\ Specifies the sector that caused the error in the system. The value is valid only if st_error = 1 (See chapter).| | ||
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| |INTENBL|st_init = 1\\ intcapt > 0|**Interrupt enable**\\ Enables input interrupt inserted in the funInt parameter.\\ Activates the st_intenbl status.| | |INTENBL|st_init = 1\\ intcapt > 0|**Interrupt enable**\\ Enables input interrupt inserted in the funInt parameter.\\ Activates the st_intenbl status.| | ||
| |DSBL|st_init = 1|**Input disable.**\\ Disables the normal input posted in the funInp parameter.\\ Disable the st_enbl status.| | |DSBL|st_init = 1|**Input disable.**\\ Disables the normal input posted in the funInp parameter.\\ Disable the st_enbl status.| | ||
| - | |INTDSBL|st_init = 1|**Interrupt disable**\\ Disables the interrupt input function inserted in the funInt parameter.\\ Disable the st_intenbl status. | | + | |INTDSBL|st_init = 1|**Interrupt disable**\\ Disables the interrupt input function inserted in the funInt parameter.\\ Disable the st_intenbl status.| |
| |RSCAPT|st_init = 1\\ st_capt = 1|**Reset status of capture input**\\ Disable the st_capt status.| | |RSCAPT|st_init = 1\\ st_capt = 1|**Reset status of capture input**\\ Disable the st_capt status.| | ||
| |RSINTCAPT|st_init = 1\\ st_intcapt = 1|**Reset status of capture interrupt input**\\ Disable the st_intcapt status.| | |RSINTCAPT|st_init = 1\\ st_intcapt = 1|**Reset status of capture interrupt input**\\ Disable the st_intcapt status.| | ||
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| |st_movdir|F|-|Rd|**Direction BW** (0÷1)\\ Signaling the slave axis direction of movement only if you are performing a cam (st_camex = 0).\\ **0** = forward\\ **1** = backward\\ To power up by default loads the value zero.| | |st_movdir|F|-|Rd|**Direction BW** (0÷1)\\ Signaling the slave axis direction of movement only if you are performing a cam (st_camex = 0).\\ **0** = forward\\ **1** = backward\\ To power up by default loads the value zero.| | ||
| |st_loopon|F|-|Rd|**Loop ON** (0÷1)\\ Reporting of slave axis in reaction to space.\\ **0** = axis not in reaction to space\\ **1** = axis in reaction to space\\ To power up by default loads the value zero.| | |st_loopon|F|-|Rd|**Loop ON** (0÷1)\\ Reporting of slave axis in reaction to space.\\ **0** = axis not in reaction to space\\ **1** = axis in reaction to space\\ To power up by default loads the value zero.| | ||
| - | |st_foller|F|-|Rd|**Following error** (0÷1)\\ Reporting the following error slave axis (withholding | + | |st_foller|F|-|Rd|**Following error** (0÷1)\\ Reporting the following error slave axis (with holding |
| |st_sync|F|-|Rd|**Syncronism** (0÷1)\\ Reporting of slave axis in synch during execution of the cam:\\ **0** = axis does not in sync\\ **1** = axis in synch\\ To power up by default loads the value zero.| | |st_sync|F|-|Rd|**Syncronism** (0÷1)\\ Reporting of slave axis in synch during execution of the cam:\\ **0** = axis does not in sync\\ **1** = axis in synch\\ To power up by default loads the value zero.| | ||
| |st_cal|F|-|Rd|**Calibration** (0÷1)\\ Reporting of slave axis as voltage generator.\\ **0** = voltage axis off\\ **1** = voltage axis on\\ To power up by default loads the value zero.| | |st_cal|F|-|Rd|**Calibration** (0÷1)\\ Reporting of slave axis as voltage generator.\\ **0** = voltage axis off\\ **1** = voltage axis on\\ To power up by default loads the value zero.| | ||
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| |st_int|F|-|Rd|**Status of interrupt line** (0÷1)\\ Indicates the status of the interrupt line of general purpose.\\ **0** = Interrupt input deactivate.\\ **1** = Interrupt input activate.\\ To power up by default loads the value zero.| | |st_int|F|-|Rd|**Status of interrupt line** (0÷1)\\ Indicates the status of the interrupt line of general purpose.\\ **0** = Interrupt input deactivate.\\ **1** = Interrupt input activate.\\ To power up by default loads the value zero.| | ||
| |st_error|F|-|Rd|**Status of camming device error** (0÷1)\\ CAMMING3 device error state.\\ To decode the error you must refer to the errcode and errvalue variables.\\ **0** = Error not present.\\ **1** = Error present.\\ To power up by default loads the value zero.| | |st_error|F|-|Rd|**Status of camming device error** (0÷1)\\ CAMMING3 device error state.\\ To decode the error you must refer to the errcode and errvalue variables.\\ **0** = Error not present.\\ **1** = Error present.\\ To power up by default loads the value zero.| | ||
| - | |st_warning|F|-|Rd|**Status of camming device warning** (0÷1)\\ | + | |st_warning|F|-|Rd|**Status of camming device warning** (0÷1)\\ |
| |st_acc|F|-|Rd|**Acceleration** (0÷1)\\ Axis acceleration signal.\\ Is not handled during the processing of the cam (st_camex = 1).\\ **0** = Axis not in acceleration; | |st_acc|F|-|Rd|**Acceleration** (0÷1)\\ Axis acceleration signal.\\ Is not handled during the processing of the cam (st_camex = 1).\\ **0** = Axis not in acceleration; | ||
| |st_dec|F|-|Rd|**Deceleration** (0÷1)\\ Axis deceleration signal.\\ Is not handled during the processing of the cam (st_camex = 1).\\ **0** = Axis not in decelaration; | |st_dec|F|-|Rd|**Deceleration** (0÷1)\\ Axis deceleration signal.\\ Is not handled during the processing of the cam (st_camex = 1).\\ **0** = Axis not in decelaration; | ||