Validity: Rule
Case 1: the axis starts from the PS point in area A
Phases: •The micro state is read to establish the first movement. •Final Mission (CYCLE0): the final movement is performed with a maximum stroke equal to the value of parameter spSch, with the set speed (+velZc). •The value obtained by adding the delta quote (PF-quote read on the first CH0 encoder with the micro in 1) to the Preset parameter, is assigned as the new real quote. •The predefined variable c0_done is updated by setting the axis related bit to 1. NOTE: The length of cam B read from the micro must be greater than one encoder revolution to ensure that CH0 is ready with the micro in 1. |
Legend: •A, area where the micro reads 0 •B, area where the micro reads 1 •PS, initial start point for mva_zc() •PF, target stop point for mva_zc() •CH0, 0 channel of the incremental encoder
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Case 2: the axis starts from the PS point in area B
Phases: •The micro state is read to establish the first movement. •Preliminary Mission 1: the axis moves at the speed (+velPos) until it encounters the micro falling edge, then decelerates and stops in P1. •Final Mission (CYCLE0): the final movement is performed with a maximum stroke equal to the value of parameter spSch, with the set speed (+velZc). •The value obtained by adding the delta quote (PF-quote read on the first CH0 encoder with the micro in 1) to the Preset parameter, is assigned as the new real quote. •The predefined variable c0_done is updated by setting the axis related bit to 1. NOTE: The length of cam B read from the micro must be greater than one encoder revolution to ensure that CH0 is ready with the micro in 1. |
Legend: •A, area where the micro reads 0 •B, area where the micro reads 1 •PS, initial start point for mva_zc() •PF, target stop point for mva_zc() •P1, intermediate point •CH0, 0 channel of the incremental encoder
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Example of use:
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