SoftMC-Wiki - User contributions [en]

softMC Configurator

2023-06-19T13:18:35Z

Eliot:

== softMC Configurator ==

The following pages explain how to generate application files for some of the motion elements supported by softMC, using the softMC Configurator:

*[[Single_Axis_Setup_in_EtherCAT/CANopen_Network|1-Axis Setup in EtherCAT/CANopen Network]]
*[[3-Axis_XYZ_Cartesian_Group_Setup_in_EtherCAT_Network|3-Axis XYZ Cartesian Group Setup in EtherCAT Network]]
*[[4-Axis_Delta_robot_Setup|4-Axis Delta robot Setup]]
*[[4-Axis_Scara_robot_Setup|4-Axis Scara robot Setup]]
*[[6-Axis_Puma_robot_Setup|6-Axis Puma robot Setup]]
*[[6-Axis_Puma_robot_Setup|Add a new IO/Drive to the configurator]]

 

[[Category:Robot Models]]

Program Examples:fast-PLS

2023-02-13T15:21:46Z

Eliot: Added some content

{{Languages|Program_Examples:Path-PLS}}/!\ Under construction /!\
== [[Program_Examples:1.1_Feature_introduction|1.1 Feature introduction]] ==

----

This feature is used for laser application or any device that need a drive output to be toggled as fast as possible depends on the motor drive position. The idea is to trigger the FAST output 7/8 of the CDHD2 as fast as possible depending on the position feedback. In point of view of drive without master it’s easy. But in our case, we want the master to trigger to outputs and the master can provide data depending on the cycle time and in most of case the cycle time is to long so it a problem. That why thanks to this feature the drive can trigger the output even if it is not on a cycle times, we will se how to parameter this feature from the master (mc) in the next chapter

== [[Program_Examples:1.2_Scenarios|1.2 Scenarios]] ==

----

I will explain the MC controller code that I wrote line by line The idea is to perform a homing process (home type 35) then to send motion to 400 degrees Meanwhile the motor is moving the user should see that the output 7 is toggled on 5 points: 150,175,200,220,360 degrees

== [[Program_Examples:1.2_Scenarios|1.2 HW connection]] ==

----

C2 connection :  [[File:Hwconnectionfastpls2.png|600x400px|Hwconnectionfastpls2.png]]

In other word: [[File:Hwconnectionfastpls.png|350x300px|Hwconnectionfastpls.png]]

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.3 Before running the code]] ==

----

Fast PLS output functionality need to be set on the drive (on out 7 or out 8) On the configurator in control studio two new objects need to be mapped on pdo4 : 2191h and 2205h

[[File:configfastpls.png|500x400px|configfastpls.png]]

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.4 The code]] ==

----

'------------------------------------------------------------------------------

' File:        <MyTask>.prg

' Purpose:     Just an example of a module header

' Version:     1.00

' Author:      <Elliot Serfaty>

' Description:

' History:     YYYY-MM-DD  <MyShortCut>  V1.00

'              Created

'------------------------------------------------------------------------------

' module global "constants"

 

'common shared FASTPLS1 as PLS a1 sys.DOut.1008

 

 

'Laser should be

'On when pfb =>  150  deg

'Off when pfb => 175   deg

'On when pfb =>  200  deg

'Off when pfb => 220   deg

'On when pfb =>  360   deg

 

 

program

dim actualpfb as long

dim tol as long = 0.1

dim i as long

 

attach a1

Print "------FastPLS V1.0--------"

Print "/!\Home proccess/!\"

call EC_SLAVE_SET_HOMING_PARAMETERS(a1,HOMING_METHOD,35)  ‘Hometype = 35

call EC_SLAVE_HOME_DS402(a1, 5000)   ‘Enable the home process

if a1.PFb < tol and a1.PFac > - tol then

Print "Homing : DONE ,Pfb = " + str$ (a1.PFb)

else

Print "->Homing : FAIL ,Pfb = " + str$ (a1.PFb)

end if

 

 

print "/!\ Init the Fast-PLS /!\ "

sys.dout.1008=0              'Turn off the output 1008 is pointing to DOUT 7 of the drive

 

FASTPLS1.PlsEnable = OFF        ' Disable the FastPLS

sys.dout.sim[1008]=0                ' set output as real

FASTPLS1.hwassistance=2        ' PLS as Fast PLS

CreatePlsData 5 FASTPLS1        ' Create 5 points

FASTPLS1.PlsPosition[1] =  150  

FASTPLS1.PlsPosition[2] =  175

FASTPLS1.PlsPosition[3] =  200

FASTPLS1.PlsPosition[4] =  220

FASTPLS1.PlsPosition[5] =  360

for i=1 to 5

 Print "PLS position number: " + str$(i)+ "= "; FASTPLS1.PlsPosition[i]

next

FASTPLS1.PlsSource = A1.Pcmd   ‘source of the PCOM

FASTPLS1.PLSPropagationDelay=0

FASTPLS1.PLSPropagationEnableDelay = 0

FASTPLS1.PlsPolarity = ON             'low to high polarity

FASTPLS1.PlsEnable   = ON             ‘Enable the fastpls

print "FastPLS Active "

print" "

Print"Motion activated"

a1.En=1

'record FASTPLS1.rec 50000 recdata = a1.PositionCommandHistory[1],a1.pcmd, 50*sys.dout[1008] ,ec_pdo_read(1,0x2191,0),a1.vcmd,((ec_pdo_read(1,0x2205,1) shl 4) shr 4), a1.PositionCommandHistory[1]+a1.vcmd*((ec_pdo_read(1,0x2205,1) shl 4) shr 4)/10/1e6

'record FASTPLS1.rec 10000 Gap=1 Recdata = a1.PCmd , 50*sys.dout[1008], ec_pdo_read(1,0x2191,0) , ec_pdo_read(1,0x2205,1)

'recordon

move a1 400 abs=1 vcruise=720

waitformotion a1

Print"Drive disable"

a1.En=0

FASTPLS1.PlsEnable   = OFF

FASTPLS1.PlsPolarity = OFF

Print"Test is done"

'recordclose

detach a1

End Program

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.5  The results]] ==

[[File:FastplsResults.png|650x500px|FastplsResults.png]]

In red the cycle times (4ms) In blue the output 7

As we can see the output is triggered even if it is not on the cycle time

Program Examples

2023-02-13T15:21:00Z

Eliot: Fast path pls added

{{Languages|Program_Examples}}
= Getting Started =

*[[Getting_Started_with_MC-Basic_and_ControlStudio|Getting Started with MC-Basic and ControlStudio]]
*[[Program_Examples_-_Sending_Hexadecimal_Data_Over_RS232|Program Examples - Sending Hexadecimal Data Over RS232]]

= Communication =

*[[Program_Examples:Serial_Com:Serial_Com_Example|Program Example - Serial COM]] - How to setup a serial connection
*[[Program_Examples:TCP_IP:TCPIP_Simple_Server|Program Example - TCP/IP Simple Server]] - How to setup a simple TCP-IP server
*[[Program_Examples:TCP_IP:TCPIP_Simple_Client|Program Example - TCP/IP Simple Client]] - How to setup a simple TCP-IP client
*[[Program_Examples:TCP_IP:TCPIP_Multi_Server|Program Example - TCP/IP Multi Server]] - How to setup a TCP-IP server that opens connections with multiple clients
*[[Program_Examples:TCP_IP:TCPIP_TelNet_Server|Program Example - TCP/IP TelNet Server]] - How to setup a TCP-IP TelNet server with simple parser
*[[Program_Examples:TCP_IP:TCPIP_Winsock_Client|Program Example - TCP/IP windows socket client]] - An example written in C language, corresponds to the
*[[Program_Examples:TCP_IP:TCPIP_TelNet_Server|TCP/IP TelNet Server]] example.

= File handling =

*[[Program_Examples:File_Handling:Open_Read_Write|Program Example - File Handling - Open Read Write]] - How to open a file with different permissions
*[[Virtual_Entry_Station_(VES)|Program Example - Virtual Entry Station (VES)]]
*[[File_Encryption|Program Example - File Encryption (VES)]]

 

= Motion Bus =

*[[Program_Examples:CANOpen:DS402_CAN_Drive_Setup|Program Example - DS402 CAN Drive Setup]] - How to setup drive for cyclic synchronous position operation

= HMI =

*[[Program_Examples:Operate_softMC_3_with_HMI|Program Examples - HMI]] - how to configure HMI with softMC 3

= Caming Examples =

*[[Program_Examples:Create_Motion:CAM_Table|Program Examples - Create CAM table and move axes]]
*[[Program_Examples:Camming_by_Virtual_Master|Program Examples - Caming by Virtual Master]]
*[[Program_Examples:Reverse_engineering_for_cam_table|Program Examples - Reverse engineering for cam table]]
*[[Program_Examples:Cam_table_with_shutdown_and_restart|Program Examples - Cam table with shutdown and restart]]
*[[Cut_To_Length_(Punching)_Application|Program Examples - Cut To Length (Punching) Application]]
*[[Flying_Shear_Application|Program Examples - Flying Shear Application]]

= Motion Examples =

*[[Axis_Setup_Procedure|Program Example - Axis Setup]] - How to set up the basic configuration of an axis.
*[[Master_and_Slave_configuration|Program Example - Master Slave]] - How to set up basic 2 axes master & slave configuration.
*[[Defining_Cartesian_Groups|Program Example - Defining Cartesian Groups]] - How to set up an XYZ system.
*[[Program_Examples:Helical_Interpolation|Program Examples - Helical Interpolation]] - Circle Demo
*[[Program_Examples:Backlash_Compensation|Program Examples - Backlash Compensation]] - Position Backlash Compensation
*[[Program_Examples:Backlash_Compensation_Table|Program Examples - Backlash Compensation using Compensation Tables]] - Position Backlash Compensation using compensation tables
*[[Program_Examples:Homing|Program Examples - Homing]] - How to set homing parameters and issue a homing procedure
*[[Program_Examples:Create_Motion:Position_Mode|Program Examples - Move Axis in Position Mode]]
*[[Program_Examples:Create_Motion:Velocity_Mode|Program Examples - Jog Axis in Velocity Mode]]
*[[Program_Examples:Create_Motion:Torque_Mode|Program Examples - Issue a Torque Command to an Axis in Torque Mode]]
*[[Program_Examples:Defining_a_Cartesian_Group|Program_Examples - Defining a Cartesian Group]]
*[[Program_Examples:Setting_Up_an_Axis|Program_Examples - Setting Up an Axis]]
*[[Program_Examples:Robot_tool_calibration|Program_Examples - Robot tool calibration]]
*[[Program_Examples:CT_without_buffer|Program_Examples - CT without buffer]]
*[[Program_Examples:Group_Blending|Program_Examples - Group Blending]]
*[[Program_Examples:Advanced_Interpolation|Program_Examples - Advanced Interpolation]]
*[[Program_Examples:Single_Axis_Blending|Program_Examples - Single Axis Blending]]
*[[Program_Examples:Robot_Circle_Command|Program_Examples - Robot Circle Command]]
*[[Program_Examples:Cartesian_Gearing|Program_Examples - Cartesian Gearing]]
*[[Program_Examples_-_Robot_Pick_and_Place_(P&P)|Program_Examples - Robot Pick and Place (P&P)]]
*[[Program_Examples_-_Robot_Helix_motion|Program_Examples - Robot Helix motion]] 
*[[Program_Examples:Cyclic_recording_of_single_Axis|Program_Examples - Cyclic recording of single Axis]]
*[[Program_Examples:_PIPEMODE_library_and_motion_commands|Program_Examples - PIPEMODE: Library and Motion Commands]]
*[[Program_Examples:_WorkSpace_areas|Program_Examples - WorkSpace areas]]
*[[Program_Examples:_Events|Program_Examples - Events]]

 

== PLS Examples ==

*[[PLS_SETUP_PROCEDURE|Program Example - Axis-PLS: PLS Setup]] - How to set up a PLS data table.
*[[Program_Example_-_Path-PLS:_Path_Distances_as_Position_Source|Program Example - Path-PLS: Path Distances as Position Source]]
*[[Program_Example_-_Path-PLS:_Path_Percentages_as_Position_Source|Program Example - Path-PLS: Path Percentages as Position Source]]
*[[Program_Example_-_Path-PLS:_Setpoint1_as_Position_Source|Program Example - Path-PLS: Setpoint1 as Position Source]]
*[[Program_Example_-_Path-PLS:_Non-Blended_Motion_Transitions_as_Position_Source|Program Example - Path-PLS: Non-Blended Motion Transitions as Position Source]]
*[[Program_Example_-_Path-PLS:_Blended_Motion_Transitions_as_Position_Source|Program Example - Path-PLS: Blended Motion Transitions as Position Source]]
*[[Program_Example_-_Path-PLS:_Equidistant_Points_from_Start/End_as_Position_Source|Program Example - Path-PLS: Equidistant Points from Start/End as Position Source]]
*[[Program_Example_-_Path-PLS:_High_Accuracy_Concatenated_Motions|Program Example - Path-PLS: High Accuracy Concatenated Motions]]
*[[Program_Examples:Path-PLS|Program Example - Path-PLS: PUMA Robot Application with PLS]]
*[[Program_Examples:fast-PLS|Program Example - Fast-PLS: CDHD2 with fast-PLS 2023]]
*[[Program_Examples:fast-PLS|Program Example - Fast-Path-PLS: CDHD2 with fast-PLS 2023]]

 

= Advanced (Expert) =

*[[Program_Examples:Visualization_with_RoboDK|Program_Example - Visualization with RoboDK]]
*[[Program_Examples:sys_log|Program Examples - sys.log]] - How to send log messages from MC-Basic context to Linux sys.log
*[[Program_Examples:Shared_Objects|Program Examples - Shared Objects]] - How to create, link and use shared objects with softMC
*[[Program_Examples:real_time_motion_event_tracer|Program Example - real time motion event tracer]] - How to trace internal motion events
*[[Program_Examples:Sci_Lab_interface|Program_Example - Sci Lab interface]] - Plotting softMC rec files in SciLab
*[[Program_Examples:Octave_interface|Program_Example - Octave interface]] - Plotting softMC rec files in Octave
*[[Program_Examples:User_Kinematics|Program_Example - User Kinematics - '''Advanced!''']]
*[[Program_Examples:force_sensor|Program_Example - Force Sensor]]

= Undocumented =

*[[Undocumented_User_Functions|Undocumented]]

Program Examples:fast-PLS

2023-02-12T07:43:38Z

Eliot: Design

{{Languages|Program_Examples:Path-PLS}}
== [[Program_Examples:1.1_Feature_introduction|1.1 Feature introduction]] ==

----

This feature is used for laser application or any device that need a drive output to be toggled as fast as possible depends on the motor drive position. The idea is to trigger the FAST output 7/8 of the CDHD2 as fast as possible depending on the position feedback. In point of view of drive without master it’s easy. But in our case, we want the master to trigger to outputs and the master can provide data depending on the cycle time and in most of case the cycle time is to long so it a problem. That why thanks to this feature the drive can trigger the output even if it is not on a cycle times, we will se how to parameter this feature from the master (mc) in the next chapter

== [[Program_Examples:1.2_Scenarios|1.2 Scenarios]] ==

----

I will explain the MC controller code that I wrote line by line The idea is to perform a homing process (home type 35) then to send motion to 400 degrees Meanwhile the motor is moving the user should see that the output 7 is toggled on 5 points: 150,175,200,220,360 degrees

== [[Program_Examples:1.2_Scenarios|1.2 HW connection]] ==

----

C2 connection :  [[File:Hwconnectionfastpls2.png|600x400px|Hwconnectionfastpls2.png]]

In other word: [[File:Hwconnectionfastpls.png|350x300px|Hwconnectionfastpls.png]]

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.3 Before running the code]] ==

----

Fast PLS output functionality need to be set on the drive (on out 7 or out 8) On the configurator in control studio two new objects need to be mapped on pdo4 : 2191h and 2205h

[[File:configfastpls.png|500x400px|configfastpls.png]]

== [[Program_Examples:1.2.2_Before_running_the_code|1.4 The code]] ==

----

'------------------------------------------------------------------------------

' File:        <MyTask>.prg

' Purpose:     Just an example of a module header

' Version:     1.00

' Author:      <Elliot Serfaty>

' Description:

' History:     YYYY-MM-DD  <MyShortCut>  V1.00

'              Created

'------------------------------------------------------------------------------

' module global "constants"

 

'common shared FASTPLS1 as PLS a1 sys.DOut.1008

 

 

'Laser should be

'On when pfb =>  150  deg

'Off when pfb => 175   deg

'On when pfb =>  200  deg

'Off when pfb => 220   deg

'On when pfb =>  360   deg

 

 

program

dim actualpfb as long

dim tol as long = 0.1

dim i as long

 

attach a1

Print "------FastPLS V1.0--------"

Print "/!\Home proccess/!\"

call EC_SLAVE_SET_HOMING_PARAMETERS(a1,HOMING_METHOD,35)  ‘Hometype = 35

call EC_SLAVE_HOME_DS402(a1, 5000)   ‘Enable the home process

if a1.PFb < tol and a1.PFac > - tol then

Print "Homing : DONE ,Pfb = " + str$ (a1.PFb)

else

Print "->Homing : FAIL ,Pfb = " + str$ (a1.PFb)

end if

 

 

print "/!\ Init the Fast-PLS /!\ "

sys.dout.1008=0              'Turn off the output 1008 is pointing to DOUT 7 of the drive

 

FASTPLS1.PlsEnable = OFF        ' Disable the FastPLS

sys.dout.sim[1008]=0                ' set output as real

FASTPLS1.hwassistance=2        ' PLS as Fast PLS

CreatePlsData 5 FASTPLS1        ' Create 5 points

FASTPLS1.PlsPosition[1] =  150  

FASTPLS1.PlsPosition[2] =  175

FASTPLS1.PlsPosition[3] =  200

FASTPLS1.PlsPosition[4] =  220

FASTPLS1.PlsPosition[5] =  360

for i=1 to 5

 Print "PLS position number: " + str$(i)+ "= "; FASTPLS1.PlsPosition[i]

next

FASTPLS1.PlsSource = A1.Pcmd   ‘source of the PCOM

FASTPLS1.PLSPropagationDelay=0

FASTPLS1.PLSPropagationEnableDelay = 0

FASTPLS1.PlsPolarity = ON             'low to high polarity

FASTPLS1.PlsEnable   = ON             ‘Enable the fastpls

print "FastPLS Active "

print" "

Print"Motion activated"

a1.En=1

'record FASTPLS1.rec 50000 recdata = a1.PositionCommandHistory[1],a1.pcmd, 50*sys.dout[1008] ,ec_pdo_read(1,0x2191,0),a1.vcmd,((ec_pdo_read(1,0x2205,1) shl 4) shr 4), a1.PositionCommandHistory[1]+a1.vcmd*((ec_pdo_read(1,0x2205,1) shl 4) shr 4)/10/1e6

'record FASTPLS1.rec 10000 Gap=1 Recdata = a1.PCmd , 50*sys.dout[1008], ec_pdo_read(1,0x2191,0) , ec_pdo_read(1,0x2205,1)

'recordon

move a1 400 abs=1 vcruise=720

waitformotion a1

Print"Drive disable"

a1.En=0

FASTPLS1.PlsEnable   = OFF

FASTPLS1.PlsPolarity = OFF

Print"Test is done"

'recordclose

detach a1

End Program

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.5  The results]] ==

[[File:FastplsResults.png|650x500px|FastplsResults.png]]

In red the cycle times (4ms) In blue the output 7

As we can see the output is triggered even if it is not on the cycle time

Program Examples

2023-02-12T07:42:36Z

Eliot: Design

{{Languages|Program_Examples}}
= Getting Started =

*[[Getting_Started_with_MC-Basic_and_ControlStudio|Getting Started with MC-Basic and ControlStudio]]
*[[Program_Examples_-_Sending_Hexadecimal_Data_Over_RS232|Program Examples - Sending Hexadecimal Data Over RS232]]

= Communication =

*[[Program_Examples:Serial_Com:Serial_Com_Example|Program Example - Serial COM]] - How to setup a serial connection
*[[Program_Examples:TCP_IP:TCPIP_Simple_Server|Program Example - TCP/IP Simple Server]] - How to setup a simple TCP-IP server
*[[Program_Examples:TCP_IP:TCPIP_Simple_Client|Program Example - TCP/IP Simple Client]] - How to setup a simple TCP-IP client
*[[Program_Examples:TCP_IP:TCPIP_Multi_Server|Program Example - TCP/IP Multi Server]] - How to setup a TCP-IP server that opens connections with multiple clients
*[[Program_Examples:TCP_IP:TCPIP_TelNet_Server|Program Example - TCP/IP TelNet Server]] - How to setup a TCP-IP TelNet server with simple parser
*[[Program_Examples:TCP_IP:TCPIP_Winsock_Client|Program Example - TCP/IP windows socket client]] - An example written in C language, corresponds to the
*[[Program_Examples:TCP_IP:TCPIP_TelNet_Server|TCP/IP TelNet Server]] example.

= File handling =

*[[Program_Examples:File_Handling:Open_Read_Write|Program Example - File Handling - Open Read Write]] - How to open a file with different permissions
*[[Virtual_Entry_Station_(VES)|Program Example - Virtual Entry Station (VES)]]
*[[File_Encryption|Program Example - File Encryption (VES)]]

 

= Motion Bus =

*[[Program_Examples:CANOpen:DS402_CAN_Drive_Setup|Program Example - DS402 CAN Drive Setup]] - How to setup drive for cyclic synchronous position operation

= HMI =

*[[Program_Examples:Operate_softMC_3_with_HMI|Program Examples - HMI]] - how to configure HMI with softMC 3

= Caming Examples =

*[[Program_Examples:Create_Motion:CAM_Table|Program Examples - Create CAM table and move axes]]
*[[Program_Examples:Camming_by_Virtual_Master|Program Examples - Caming by Virtual Master]]
*[[Program_Examples:Reverse_engineering_for_cam_table|Program Examples - Reverse engineering for cam table]]
*[[Program_Examples:Cam_table_with_shutdown_and_restart|Program Examples - Cam table with shutdown and restart]]
*[[Cut_To_Length_(Punching)_Application|Program Examples - Cut To Length (Punching) Application]]
*[[Flying_Shear_Application|Program Examples - Flying Shear Application]]

= Motion Examples =

*[[Axis_Setup_Procedure|Program Example - Axis Setup]] - How to set up the basic configuration of an axis.
*[[Master_and_Slave_configuration|Program Example - Master Slave]] - How to set up basic 2 axes master & slave configuration.
*[[Defining_Cartesian_Groups|Program Example - Defining Cartesian Groups]] - How to set up an XYZ system.
*[[Program_Examples:Helical_Interpolation|Program Examples - Helical Interpolation]] - Circle Demo
*[[Program_Examples:Backlash_Compensation|Program Examples - Backlash Compensation]] - Position Backlash Compensation
*[[Program_Examples:Backlash_Compensation_Table|Program Examples - Backlash Compensation using Compensation Tables]] - Position Backlash Compensation using compensation tables
*[[Program_Examples:Homing|Program Examples - Homing]] - How to set homing parameters and issue a homing procedure
*[[Program_Examples:Create_Motion:Position_Mode|Program Examples - Move Axis in Position Mode]]
*[[Program_Examples:Create_Motion:Velocity_Mode|Program Examples - Jog Axis in Velocity Mode]]
*[[Program_Examples:Create_Motion:Torque_Mode|Program Examples - Issue a Torque Command to an Axis in Torque Mode]]
*[[Program_Examples:Defining_a_Cartesian_Group|Program_Examples - Defining a Cartesian Group]]
*[[Program_Examples:Setting_Up_an_Axis|Program_Examples - Setting Up an Axis]]
*[[Program_Examples:Robot_tool_calibration|Program_Examples - Robot tool calibration]]
*[[Program_Examples:CT_without_buffer|Program_Examples - CT without buffer]]
*[[Program_Examples:Group_Blending|Program_Examples - Group Blending]]
*[[Program_Examples:Advanced_Interpolation|Program_Examples - Advanced Interpolation]]
*[[Program_Examples:Single_Axis_Blending|Program_Examples - Single Axis Blending]]
*[[Program_Examples:Robot_Circle_Command|Program_Examples - Robot Circle Command]]
*[[Program_Examples:Cartesian_Gearing|Program_Examples - Cartesian Gearing]]
*[[Program_Examples_-_Robot_Pick_and_Place_(P&P)|Program_Examples - Robot Pick and Place (P&P)]]
*[[Program_Examples_-_Robot_Helix_motion|Program_Examples - Robot Helix motion]] 
*[[Program_Examples:Cyclic_recording_of_single_Axis|Program_Examples - Cyclic recording of single Axis]]
*[[Program_Examples:_PIPEMODE_library_and_motion_commands|Program_Examples - PIPEMODE: Library and Motion Commands]]
*[[Program_Examples:_WorkSpace_areas|Program_Examples - WorkSpace areas]]
*[[Program_Examples:_Events|Program_Examples - Events]]

 

== PLS Examples ==

*[[PLS_SETUP_PROCEDURE|Program Example - Axis-PLS: PLS Setup]] - How to set up a PLS data table.
*[[Program_Example_-_Path-PLS:_Path_Distances_as_Position_Source|Program Example - Path-PLS: Path Distances as Position Source]]
*[[Program_Example_-_Path-PLS:_Path_Percentages_as_Position_Source|Program Example - Path-PLS: Path Percentages as Position Source]]
*[[Program_Example_-_Path-PLS:_Setpoint1_as_Position_Source|Program Example - Path-PLS: Setpoint1 as Position Source]]
*[[Program_Example_-_Path-PLS:_Non-Blended_Motion_Transitions_as_Position_Source|Program Example - Path-PLS: Non-Blended Motion Transitions as Position Source]]
*[[Program_Example_-_Path-PLS:_Blended_Motion_Transitions_as_Position_Source|Program Example - Path-PLS: Blended Motion Transitions as Position Source]]
*[[Program_Example_-_Path-PLS:_Equidistant_Points_from_Start/End_as_Position_Source|Program Example - Path-PLS: Equidistant Points from Start/End as Position Source]]
*[[Program_Example_-_Path-PLS:_High_Accuracy_Concatenated_Motions|Program Example - Path-PLS: High Accuracy Concatenated Motions]]
*[[Program_Examples:Path-PLS|Program Example - Path-PLS: PUMA Robot Application with PLS]]
*[[Program_Examples:fast-PLS|Program Example - Fast-PLS: CDHD2 with fast-PLS 2023]]

 

= Advanced (Expert) =

*[[Program_Examples:Visualization_with_RoboDK|Program_Example - Visualization with RoboDK]]
*[[Program_Examples:sys_log|Program Examples - sys.log]] - How to send log messages from MC-Basic context to Linux sys.log
*[[Program_Examples:Shared_Objects|Program Examples - Shared Objects]] - How to create, link and use shared objects with softMC
*[[Program_Examples:real_time_motion_event_tracer|Program Example - real time motion event tracer]] - How to trace internal motion events
*[[Program_Examples:Sci_Lab_interface|Program_Example - Sci Lab interface]] - Plotting softMC rec files in SciLab
*[[Program_Examples:Octave_interface|Program_Example - Octave interface]] - Plotting softMC rec files in Octave
*[[Program_Examples:User_Kinematics|Program_Example - User Kinematics - '''Advanced!''']]
*[[Program_Examples:force_sensor|Program_Example - Force Sensor]]

= Undocumented =

*[[Undocumented_User_Functions|Undocumented]]

Program Examples:fast-PLS

2023-02-12T07:39:19Z

Eliot: minor edit

{{Languages|Program_Examples:Path-PLS}}
== [[Program_Examples:1.1_Feature_introduction|1.1 Feature introduction]] ==

----

This feature is used for laser application or any device that need a drive output to be toggled as fast as possible depends on the motor drive position. The idea is to trigger the FAST output 7/8 of the CDHD2 as fast as possible depending on the position feedback. In point of view of drive without master it’s easy. But in our case, we want the master to trigger to outputs and the master can provide data depending on the cycle time and in most of case the cycle time is to long so it a problem. That why thanks to this feature the drive can trigger the output even if it is not on a cycle times, we will se how to parameter this feature from the master (mc) in the next chapter

== [[Program_Examples:1.2_Scenarios|1.2 Scenarios]] ==

----

I will explain the MC controller code that I wrote line by line The idea is to perform a homing process (home type 35) then to send motion to 400 degrees Meanwhile the motor is moving the user should see that the output 7 is toggled on 5 points: 150,175,200,220,360 degrees

== [[Program_Examples:1.2_Scenarios|1.2 HW connection]] ==

----

C2 connection :  [[File:Hwconnectionfastpls2.png|600x400px|Hwconnectionfastpls2.png]]

In other word: [[File:Hwconnectionfastpls.png|350x300px|Hwconnectionfastpls.png]]

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.3 Before running the code]] ==

----

Fast PLS output functionality need to be set on the drive (on out 7 or out 8) On the configurator in control studio two new objects need to be mapped on pdo4 : 2191h and 2205h

[[File:configfastpls.png|500x400px|configfastpls.png]]

== [[Program_Examples:1.2.2_Before_running_the_code|1.4 The code]] ==

----

'------------------------------------------------------------------------------

' File:        <MyTask>.prg

' Purpose:     Just an example of a module header

' Version:     1.00

' Author:      <MyFullName>

' Description:

' History:     YYYY-MM-DD  <MyShortCut>  V1.00

'              Created

'------------------------------------------------------------------------------

' module global "constants"

 

'common shared FASTPLS1 as PLS a1 sys.DOut.1008

 

 

'Laser should be

'On when pfb =>  150  deg

'Off when pfb => 175   deg

'On when pfb =>  200  deg

'Off when pfb => 220   deg

'On when pfb =>  360   deg

 

 

program

dim actualpfb as long

dim tol as long = 0.1

dim i as long

 

attach a1

Print "------FastPLS V1.0--------"

Print "/!\Home proccess/!\"

call EC_SLAVE_SET_HOMING_PARAMETERS(a1,HOMING_METHOD,35)  ‘Hometype = 35

call EC_SLAVE_HOME_DS402(a1, 5000)   ‘Enable the home process

if a1.PFb < tol and a1.PFac > - tol then

Print "Homing : DONE ,Pfb = " + str$ (a1.PFb)

else

Print "->Homing : FAIL ,Pfb = " + str$ (a1.PFb)

end if

 

 

print "/!\ Init the Fast-PLS /!\ "

sys.dout.1008=0              'Turn off the output 1008 is pointing to DOUT 7 of the drive

 

FASTPLS1.PlsEnable = OFF        ' Disable the FastPLS

sys.dout.sim[1008]=0                ' set output as real

FASTPLS1.hwassistance=2        ' PLS as Fast PLS

CreatePlsData 5 FASTPLS1        ' Create 5 points

FASTPLS1.PlsPosition[1] =  150  

FASTPLS1.PlsPosition[2] =  175

FASTPLS1.PlsPosition[3] =  200

FASTPLS1.PlsPosition[4] =  220

FASTPLS1.PlsPosition[5] =  360

for i=1 to 5

 Print "PLS position number: " + str$(i)+ "= "; FASTPLS1.PlsPosition[i]

next

FASTPLS1.PlsSource = A1.Pcmd   ‘source of the PCOM

FASTPLS1.PLSPropagationDelay=0

FASTPLS1.PLSPropagationEnableDelay = 0

FASTPLS1.PlsPolarity = ON             'low to high polarity

FASTPLS1.PlsEnable   = ON             ‘Enable the fastpls

print "FastPLS Active "

print" "

Print"Motion activated"

a1.En=1

'record FASTPLS1.rec 50000 recdata = a1.PositionCommandHistory[1],a1.pcmd, 50*sys.dout[1008] ,ec_pdo_read(1,0x2191,0),a1.vcmd,((ec_pdo_read(1,0x2205,1) shl 4) shr 4), a1.PositionCommandHistory[1]+a1.vcmd*((ec_pdo_read(1,0x2205,1) shl 4) shr 4)/10/1e6

'record FASTPLS1.rec 10000 Gap=1 Recdata = a1.PCmd , 50*sys.dout[1008], ec_pdo_read(1,0x2191,0) , ec_pdo_read(1,0x2205,1)

'recordon

move a1 400 abs=1 vcruise=720

waitformotion a1

Print"Drive disable"

a1.En=0

FASTPLS1.PlsEnable   = OFF

FASTPLS1.PlsPolarity = OFF

Print"Test is done"

'recordclose

detach a1

End Program

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.5  The results]] ==

[[File:FastplsResults.png|650x500px|FastplsResults.png]]

In red the cycle times (4ms) In blue the output 7

As we can see the output is triggered even if it is not on the cycle time

Program Examples:fast-PLS

2023-02-12T07:38:20Z

Eliot: Design

{{Languages|Program_Examples:Path-PLS}}
== [[Program_Examples:1.1_Feature_introduction|1.1 Feature introduction]] ==

----

This feature is used for laser application or any device that need a drive output to be toggled as fast as possible depends on the motor drive position. The idea is to trigger the FAST output 7/8 of the CDHD2 as fast as possible depending on the position feedback. In point of view of drive without master it’s easy. But in our case, we want the master to trigger to outputs and the master can provide data depending on the cycle time and in most of case the cycle time is to long so it a problem. That why thanks to this feature the drive can trigger the output even if it is not on a cycle times, we will se how to parameter this feature from the master (mc) in the next chapter

== [[Program_Examples:1.2_Scenarios|1.2 Scenarios]] ==

----

I will explain the MC controller code that I wrote line by line The idea is to perform a homing process (home type 35) then to send motion to 400 degrees Meanwhile the motor is moving the user should see that the output 7 is toggled on 5 points: 150,175,200,220,360 degrees

== [[Program_Examples:1.2_Scenarios|1.2 HW connection]] ==

----

[[File:Hwconnectionfastpls2.png|600x400px|Hwconnectionfastpls2.png]]

In other word: [[File:Hwconnectionfastpls.png|350x300px|Hwconnectionfastpls.png]]

 

 

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.3 Before running the code]] ==

----

Fast PLS output functionality need to be set on the drive (on out 7 or out 8) On the configurator in control studio two new objects need to be mapped on pdo4 : 2191h and 2205h

[[File:configfastpls.png|500x400px|configfastpls.png]]

== [[Program_Examples:1.2.2_Before_running_the_code|1.4 The code]] ==

----

'------------------------------------------------------------------------------

' File:        <MyTask>.prg

' Purpose:     Just an example of a module header

' Version:     1.00

' Author:      <MyFullName>

' Description:

' History:     YYYY-MM-DD  <MyShortCut>  V1.00

'              Created

'------------------------------------------------------------------------------

' module global "constants"

 

'common shared FASTPLS1 as PLS a1 sys.DOut.1008

 

 

'Laser should be

'On when pfb =>  150  deg

'Off when pfb => 175   deg

'On when pfb =>  200  deg

'Off when pfb => 220   deg

'On when pfb =>  360   deg

 

 

program

dim actualpfb as long

dim tol as long = 0.1

dim i as long

 

attach a1

Print "------FastPLS V1.0--------"

Print "/!\Home proccess/!\"

call EC_SLAVE_SET_HOMING_PARAMETERS(a1,HOMING_METHOD,35)  ‘Hometype = 35

call EC_SLAVE_HOME_DS402(a1, 5000)   ‘Enable the home process

if a1.PFb < tol and a1.PFac > - tol then

Print "Homing : DONE ,Pfb = " + str$ (a1.PFb)

else

Print "->Homing : FAIL ,Pfb = " + str$ (a1.PFb)

end if

 

 

print "/!\ Init the Fast-PLS /!\ "

sys.dout.1008=0              'Turn off the output 1008 is pointing to DOUT 7 of the drive

 

FASTPLS1.PlsEnable = OFF        ' Disable the FastPLS

sys.dout.sim[1008]=0                ' set output as real

FASTPLS1.hwassistance=2        ' PLS as Fast PLS

CreatePlsData 5 FASTPLS1        ' Create 5 points

FASTPLS1.PlsPosition[1] =  150  

FASTPLS1.PlsPosition[2] =  175

FASTPLS1.PlsPosition[3] =  200

FASTPLS1.PlsPosition[4] =  220

FASTPLS1.PlsPosition[5] =  360

for i=1 to 5

 Print "PLS position number: " + str$(i)+ "= "; FASTPLS1.PlsPosition[i]

next

FASTPLS1.PlsSource = A1.Pcmd   ‘source of the PCOM

FASTPLS1.PLSPropagationDelay=0

FASTPLS1.PLSPropagationEnableDelay = 0

FASTPLS1.PlsPolarity = ON             'low to high polarity

FASTPLS1.PlsEnable   = ON             ‘Enable the fastpls

print "FastPLS Active "

print" "

Print"Motion activated"

a1.En=1

'record FASTPLS1.rec 50000 recdata = a1.PositionCommandHistory[1],a1.pcmd, 50*sys.dout[1008] ,ec_pdo_read(1,0x2191,0),a1.vcmd,((ec_pdo_read(1,0x2205,1) shl 4) shr 4), a1.PositionCommandHistory[1]+a1.vcmd*((ec_pdo_read(1,0x2205,1) shl 4) shr 4)/10/1e6

'record FASTPLS1.rec 10000 Gap=1 Recdata = a1.PCmd , 50*sys.dout[1008], ec_pdo_read(1,0x2191,0) , ec_pdo_read(1,0x2205,1)

'recordon

move a1 400 abs=1 vcruise=720

waitformotion a1

Print"Drive disable"

a1.En=0

FASTPLS1.PlsEnable   = OFF

FASTPLS1.PlsPolarity = OFF

Print"Test is done"

'recordclose

detach a1

End Program

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.5  The results]] ==

[[File:FastplsResults.png|650x500px|FastplsResults.png]]

In red the cycle times (4ms) In blue the output 7

As we can see the output is triggered even if it is not on the cycle time

Program Examples:fast-PLS

2023-02-12T07:38:04Z

Eliot: Design

{{Languages|Program_Examples:Path-PLS}}
== [[Program_Examples:1.1_Feature_introduction|1.1 Feature introduction]] ==

----

This feature is used for laser application or any device that need a drive output to be toggled as fast as possible depends on the motor drive position. The idea is to trigger the FAST output 7/8 of the CDHD2 as fast as possible depending on the position feedback. In point of view of drive without master it’s easy. But in our case, we want the master to trigger to outputs and the master can provide data depending on the cycle time and in most of case the cycle time is to long so it a problem. That why thanks to this feature the drive can trigger the output even if it is not on a cycle times, we will se how to parameter this feature from the master (mc) in the next chapter  

== [[Program_Examples:1.2_Scenarios|1.2 Scenarios]] ==

----

I will explain the MC controller code that I wrote line by line The idea is to perform a homing process (home type 35) then to send motion to 400 degrees Meanwhile the motor is moving the user should see that the output 7 is toggled on 5 points: 150,175,200,220,360 degrees

== [[Program_Examples:1.2_Scenarios|1.2 HW connection]] ==

----

[[File:Hwconnectionfastpls2.png|600x400px|Hwconnectionfastpls2.png]]

In other word: [[File:Hwconnectionfastpls.png|350x300px|Hwconnectionfastpls.png]]

 

 

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.3 Before running the code]] ==

----

Fast PLS output functionality need to be set on the drive (on out 7 or out 8) On the configurator in control studio two new objects need to be mapped on pdo4 : 2191h and 2205h

[[File:configfastpls.png|500x400px|configfastpls.png]]

== [[Program_Examples:1.2.2_Before_running_the_code|1.4 The code]] ==

----

'------------------------------------------------------------------------------

' File:        <MyTask>.prg

' Purpose:     Just an example of a module header

' Version:     1.00

' Author:      <MyFullName>

' Description:

' History:     YYYY-MM-DD  <MyShortCut>  V1.00

'              Created

'------------------------------------------------------------------------------

' module global "constants"

 

'common shared FASTPLS1 as PLS a1 sys.DOut.1008

 

 

'Laser should be

'On when pfb =>  150  deg

'Off when pfb => 175   deg

'On when pfb =>  200  deg

'Off when pfb => 220   deg

'On when pfb =>  360   deg

 

 

program

dim actualpfb as long

dim tol as long = 0.1

dim i as long

 

attach a1

Print "------FastPLS V1.0--------"

Print "/!\Home proccess/!\"

call EC_SLAVE_SET_HOMING_PARAMETERS(a1,HOMING_METHOD,35)  ‘Hometype = 35

call EC_SLAVE_HOME_DS402(a1, 5000)   ‘Enable the home process

if a1.PFb < tol and a1.PFac > - tol then

Print "Homing : DONE ,Pfb = " + str$ (a1.PFb)

else

Print "->Homing : FAIL ,Pfb = " + str$ (a1.PFb)

end if

 

 

print "/!\ Init the Fast-PLS /!\ "

sys.dout.1008=0              'Turn off the output 1008 is pointing to DOUT 7 of the drive

 

FASTPLS1.PlsEnable = OFF        ' Disable the FastPLS

sys.dout.sim[1008]=0                ' set output as real

FASTPLS1.hwassistance=2        ' PLS as Fast PLS

CreatePlsData 5 FASTPLS1        ' Create 5 points

FASTPLS1.PlsPosition[1] =  150  

FASTPLS1.PlsPosition[2] =  175

FASTPLS1.PlsPosition[3] =  200

FASTPLS1.PlsPosition[4] =  220

FASTPLS1.PlsPosition[5] =  360

for i=1 to 5

 Print "PLS position number: " + str$(i)+ "= "; FASTPLS1.PlsPosition[i]

next

FASTPLS1.PlsSource = A1.Pcmd   ‘source of the PCOM

FASTPLS1.PLSPropagationDelay=0

FASTPLS1.PLSPropagationEnableDelay = 0

FASTPLS1.PlsPolarity = ON             'low to high polarity

FASTPLS1.PlsEnable   = ON             ‘Enable the fastpls

print "FastPLS Active "

print" "

Print"Motion activated"

a1.En=1

'record FASTPLS1.rec 50000 recdata = a1.PositionCommandHistory[1],a1.pcmd, 50*sys.dout[1008] ,ec_pdo_read(1,0x2191,0),a1.vcmd,((ec_pdo_read(1,0x2205,1) shl 4) shr 4), a1.PositionCommandHistory[1]+a1.vcmd*((ec_pdo_read(1,0x2205,1) shl 4) shr 4)/10/1e6

'record FASTPLS1.rec 10000 Gap=1 Recdata = a1.PCmd , 50*sys.dout[1008], ec_pdo_read(1,0x2191,0) , ec_pdo_read(1,0x2205,1)

'recordon

move a1 400 abs=1 vcruise=720

waitformotion a1

Print"Drive disable"

a1.En=0

FASTPLS1.PlsEnable   = OFF

FASTPLS1.PlsPolarity = OFF

Print"Test is done"

'recordclose

detach a1

End Program

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.5  The results]] ==

[[File:FastplsResults.png|650x500px|FastplsResults.png]]

In red the cycle times (4ms) In blue the output 7

As we can see the output is triggered even if it is not on the cycle time

Program Examples:fast-PLS

2023-02-08T14:02:18Z

Eliot: Add the pictures

{{Languages|Program_Examples:Path-PLS}}
== [[Program_Examples:1.1_Feature_introduction|1.1 Feature introduction]] ==

----

This feature is used for laser application or any device that need a drive output to be toggled as fast as possible depends on the motor drive position. The idea is to trigger the FAST output 7/8 of the CDHD2 as fast as possible depending on the position feedback. In point of view of drive without master it’s easy. But in our case, we want the master to trigger to outputs and the master can provide data depending on the cycle time and in most of case the cycle time is to long so it a problem. That why thanks to this feature the drive can trigger the output even if it is not on a cycle times, we will se how to parameter this feature from the master (mc) in the next chapter  

== [[Program_Examples:1.2_Scenarios|1.2 Scenarios]] ==

----

I will explain the MC controller code that I wrote line by line The idea is to perform a homing process (home type 35) then to send motion to 400 degrees Meanwhile the motor is moving the user should see that the output 7 is toggled on 5 points: 150,175,200,220,360 degrees

== [[Program_Examples:1.2_Scenarios|1.2 HW connection]] ==

----

[[File:Hwconnectionfastpls2.png|600x400px]]

In other word: [[File:Hwconnectionfastpls.png|350x300px]]

 

 

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.3 Before running the code]] ==

----

Fast PLS output functionality need to be set on the drive (on out 7 or out 8) On the configurator in control studio two new objects need to be mapped on pdo4 : 2191h and 2205h

[[File:configfastpls.png|500x400px]]

== [[Program_Examples:1.2.2_Before_running_the_code|1.4 The code]] ==

----

'------------------------------------------------------------------------------

' File:        <MyTask>.prg

' Purpose:     Just an example of a module header

' Version:     1.00

' Author:      <MyFullName>

' Description:

' History:     YYYY-MM-DD  <MyShortCut>  V1.00

'              Created

'------------------------------------------------------------------------------

' module global "constants"

 

'common shared FASTPLS1 as PLS a1 sys.DOut.1008

 

 

'Laser should be

'On when pfb =>  150  deg

'Off when pfb => 175   deg

'On when pfb =>  200  deg

'Off when pfb => 220   deg

'On when pfb =>  360   deg

 

 

program

dim actualpfb as long

dim tol as long = 0.1

dim i as long

 

attach a1

Print "------FastPLS V1.0--------"

Print "/!\Home proccess/!\"

call EC_SLAVE_SET_HOMING_PARAMETERS(a1,HOMING_METHOD,35)  ‘Hometype = 35

call EC_SLAVE_HOME_DS402(a1, 5000)   ‘Enable the home process

if a1.PFb < tol and a1.PFac > - tol then

Print "Homing : DONE ,Pfb = " + str$ (a1.PFb)

else

Print "->Homing : FAIL ,Pfb = " + str$ (a1.PFb)

end if

 

 

print "/!\ Init the Fast-PLS /!\ "

sys.dout.1008=0              'Turn off the output 1008 is pointing to DOUT 7 of the drive

 

FASTPLS1.PlsEnable = OFF        ' Disable the FastPLS

sys.dout.sim[1008]=0                ' set output as real

FASTPLS1.hwassistance=2        ' PLS as Fast PLS

CreatePlsData 5 FASTPLS1        ' Create 5 points

FASTPLS1.PlsPosition[1] =  150  

FASTPLS1.PlsPosition[2] =  175

FASTPLS1.PlsPosition[3] =  200

FASTPLS1.PlsPosition[4] =  220

FASTPLS1.PlsPosition[5] =  360

for i=1 to 5

 Print "PLS position number: " + str$(i)+ "= "; FASTPLS1.PlsPosition[i]

next

FASTPLS1.PlsSource = A1.Pcmd   ‘source of the PCOM

FASTPLS1.PLSPropagationDelay=0

FASTPLS1.PLSPropagationEnableDelay = 0

FASTPLS1.PlsPolarity = ON             'low to high polarity

FASTPLS1.PlsEnable   = ON             ‘Enable the fastpls

print "FastPLS Active "

print" "

Print"Motion activated"

a1.En=1

'record FASTPLS1.rec 50000 recdata = a1.PositionCommandHistory[1],a1.pcmd, 50*sys.dout[1008] ,ec_pdo_read(1,0x2191,0),a1.vcmd,((ec_pdo_read(1,0x2205,1) shl 4) shr 4), a1.PositionCommandHistory[1]+a1.vcmd*((ec_pdo_read(1,0x2205,1) shl 4) shr 4)/10/1e6

'record FASTPLS1.rec 10000 Gap=1 Recdata = a1.PCmd , 50*sys.dout[1008], ec_pdo_read(1,0x2191,0) , ec_pdo_read(1,0x2205,1)

'recordon

move a1 400 abs=1 vcruise=720

waitformotion a1

Print"Drive disable"

a1.En=0

FASTPLS1.PlsEnable   = OFF

FASTPLS1.PlsPolarity = OFF

Print"Test is done"

'recordclose

detach a1

End Program

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.5  The results]] ==

[[File:FastplsResults.png|650x500px]]

In red the cycle times (4ms) In blue the output 7

As we can see the output is triggered even if it is not on the cycle time

File:Hwconnectionfastpls2.png

2023-02-08T13:59:49Z

Eliot:

File:Hwconnectionfastpls.png

2023-02-08T13:59:18Z

Eliot:

File:configfastpls.png

2023-02-08T13:58:57Z

Eliot:

File:FastplsResults.png

2023-02-08T13:44:04Z

Eliot:

Program Examples:fast-PLS

2023-02-08T13:40:36Z

Eliot: Design

{{Languages|Program_Examples:Path-PLS}}
== [[Program_Examples:1.1_Feature_introduction|1.1 Feature introduction]] ==

----

This feature is used for laser application or any device that need a drive output to be toggled as fast as possible depends on the motor drive position. The idea is to trigger the FAST output 7/8 of the CDHD2 as fast as possible depending on the position feedback. In point of view of drive without master it’s easy. But in our case, we want the master to trigger to outputs and the master can provide data depending on the cycle time and in most of case the cycle time is to long so it a problem. That why thanks to this feature the drive can trigger the output even if it is not on a cycle times, we will se how to parameter this feature from the master (mc) in the next chapter  

== [[Program_Examples:1.2_Scenarios|1.2 Scenarios]] ==

----

I will explain the MC controller code that I wrote line by line The idea is to perform a homing process (home type 35) then to send motion to 400 degrees Meanwhile the motor is moving the user should see that the output 7 is toggled on 5 points: 150,175,200,220,360 degrees

== [[Program_Examples:1.2_Scenarios|1.2 HW connection]] ==

----

 

In other word:  

 

 

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.3 Before running the code]] ==

----

Fast PLS output functionality need to be set on the drive (on out 7 or out 8) On the configurator in control studio two new objects need to be mapped on pdo4 : 2191h and 2205h

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.4 The code]] ==

----

'------------------------------------------------------------------------------

' File:        <MyTask>.prg

' Purpose:     Just an example of a module header

' Version:     1.00

' Author:      <MyFullName>

' Description:

' History:     YYYY-MM-DD  <MyShortCut>  V1.00

'              Created

'------------------------------------------------------------------------------

' module global "constants"

 

'common shared FASTPLS1 as PLS a1 sys.DOut.1008

 

 

'Laser should be

'On when pfb =>  150  deg

'Off when pfb => 175   deg

'On when pfb =>  200  deg

'Off when pfb => 220   deg

'On when pfb =>  360   deg

 

 

program

dim actualpfb as long

dim tol as long = 0.1

dim i as long

 

attach a1

Print "------FastPLS V1.0--------"

Print "/!\Home proccess/!\"

call EC_SLAVE_SET_HOMING_PARAMETERS(a1,HOMING_METHOD,35)  ‘Hometype = 35

call EC_SLAVE_HOME_DS402(a1, 5000)   ‘Enable the home process

if a1.PFb < tol and a1.PFac > - tol then

Print "Homing : DONE ,Pfb = " + str$ (a1.PFb)

else

Print "->Homing : FAIL ,Pfb = " + str$ (a1.PFb)

end if

 

 

print "/!\ Init the Fast-PLS /!\ "

sys.dout.1008=0              'Turn off the output 1008 is pointing to DOUT 7 of the drive

 

FASTPLS1.PlsEnable = OFF        ' Disable the FastPLS

sys.dout.sim[1008]=0                ' set output as real

FASTPLS1.hwassistance=2        ' PLS as Fast PLS

CreatePlsData 5 FASTPLS1        ' Create 5 points

FASTPLS1.PlsPosition[1] =  150  

FASTPLS1.PlsPosition[2] =  175

FASTPLS1.PlsPosition[3] =  200

FASTPLS1.PlsPosition[4] =  220

FASTPLS1.PlsPosition[5] =  360

for i=1 to 5

 Print "PLS position number: " + str$(i)+ "= "; FASTPLS1.PlsPosition[i]

next

FASTPLS1.PlsSource = A1.Pcmd   ‘source of the PCOM

FASTPLS1.PLSPropagationDelay=0

FASTPLS1.PLSPropagationEnableDelay = 0

FASTPLS1.PlsPolarity = ON             'low to high polarity

FASTPLS1.PlsEnable   = ON             ‘Enable the fastpls

print "FastPLS Active "

print" "

Print"Motion activated"

a1.En=1

'record FASTPLS1.rec 50000 recdata = a1.PositionCommandHistory[1],a1.pcmd, 50*sys.dout[1008] ,ec_pdo_read(1,0x2191,0),a1.vcmd,((ec_pdo_read(1,0x2205,1) shl 4) shr 4), a1.PositionCommandHistory[1]+a1.vcmd*((ec_pdo_read(1,0x2205,1) shl 4) shr 4)/10/1e6

'record FASTPLS1.rec 10000 Gap=1 Recdata = a1.PCmd , 50*sys.dout[1008], ec_pdo_read(1,0x2191,0) , ec_pdo_read(1,0x2205,1)

'recordon

move a1 400 abs=1 vcruise=720

waitformotion a1

Print"Drive disable"

a1.En=0

FASTPLS1.PlsEnable   = OFF

FASTPLS1.PlsPolarity = OFF

Print"Test is done"

'recordclose

detach a1

End Program

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.5  The results]] ==

 

In red the cycle times (4ms) In blue the output 7

As we can see the output is triggered even if it is not on the cycle time

Program Examples:fast-PLS

2023-02-08T13:37:57Z

Eliot: Design update

{{Languages|Program_Examples:Path-PLS}}
== [[Program_Examples:1.1_Feature_introduction|1.1 Feature introduction]] ==

----

This feature is used for laser application or any device that need a drive output to be toggled as fast as possible depends on the motor drive position. The idea is to trigger the FAST output 7/8 of the CDHD2 as fast as possible depending on the position feedback. In point of view of drive without master it’s easy. But in our case, we want the master to trigger to outputs and the master can provide data depending on the cycle time and in most of case the cycle time is to long so it a problem. That why thanks to this feature the drive can trigger the output even if it is not on a cycle times, we will se how to parameter this feature from the master (mc) in the next chapter  

== [[Program_Examples:1.2_Scenarios|1.2 Scenarios]] ==

----

I will explain the MC controller code that I wrote line by line The idea is to perform a homing process (home type 35) then to send motion to 400 degrees Meanwhile the motor is moving the user should see that the output 7 is toggled on 5 points: 150,175,200,220,360 degrees

== [[Program_Examples:1.2_Scenarios|1.2 HW connection]] ==

----

 

In other word:  

 

 

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.3 Before running the code]] ==

----

Fast PLS output functionality need to be set on the drive (on out 7 or out 8) On the configurator in control studio two new objects need to be mapped on pdo4 : 2191h and 2205h

 

== [[Program_Examples:1.2.2_Before_running_the_code|1.4 The code]] ==

----

'------------------------------------------------------------------------------

' File:        <MyTask>.prg

' Purpose:     Just an example of a module header

' Version:     1.00

' Author:      <MyFullName>

' Description:

' History:     YYYY-MM-DD  <MyShortCut>  V1.00

'              Created

'------------------------------------------------------------------------------

' module global "constants"

 

'common shared FASTPLS1 as PLS a1 sys.DOut.1008

 

 

'Laser should be

'On when pfb =>  150  deg

'Off when pfb => 175   deg

'On when pfb =>  200  deg

'Off when pfb => 220   deg

'On when pfb =>  360   deg

 

 

program

dim actualpfb as long

dim tol as long = 0.1

dim i as long

 

attach a1

Print "------FastPLS V1.0--------"

Print "/!\Home proccess/!\"

call EC_SLAVE_SET_HOMING_PARAMETERS(a1,HOMING_METHOD,35)  ‘Hometype = 35

call EC_SLAVE_HOME_DS402(a1, 5000)   ‘Enable the home process

if a1.PFb < tol and a1.PFac > - tol then

Print "Homing : DONE ,Pfb = " + str$ (a1.PFb)

else

Print "->Homing : FAIL ,Pfb = " + str$ (a1.PFb)

end if

 

 

print "/!\ Init the Fast-PLS /!\ "

sys.dout.1008=0              'Turn off the output 1008 is pointing to DOUT 7 of the drive

 

FASTPLS1.PlsEnable = OFF        ' Disable the FastPLS

sys.dout.sim[1008]=0                ' set output as real

FASTPLS1.hwassistance=2        ' PLS as Fast PLS

CreatePlsData 5 FASTPLS1        ' Create 5 points

FASTPLS1.PlsPosition[1] =  150  

FASTPLS1.PlsPosition[2] =  175

FASTPLS1.PlsPosition[3] =  200

FASTPLS1.PlsPosition[4] =  220

FASTPLS1.PlsPosition[5] =  360

for i=1 to 5

 Print "PLS position number: " + str$(i)+ "= "; FASTPLS1.PlsPosition[i]

next

FASTPLS1.PlsSource = A1.Pcmd   ‘source of the PCOM

FASTPLS1.PLSPropagationDelay=0

FASTPLS1.PLSPropagationEnableDelay = 0

FASTPLS1.PlsPolarity = ON             'low to high polarity

FASTPLS1.PlsEnable   = ON             ‘Enable the fastpls

print "FastPLS Active "

print" "

Print"Motion activated"

a1.En=1

'record FASTPLS1.rec 50000 recdata = a1.PositionCommandHistory[1],a1.pcmd, 50*sys.dout[1008] ,ec_pdo_read(1,0x2191,0),a1.vcmd,((ec_pdo_read(1,0x2205,1) shl 4) shr 4), a1.PositionCommandHistory[1]+a1.vcmd*((ec_pdo_read(1,0x2205,1) shl 4) shr 4)/10/1e6

'record FASTPLS1.rec 10000 Gap=1 Recdata = a1.PCmd , 50*sys.dout[1008], ec_pdo_read(1,0x2191,0) , ec_pdo_read(1,0x2205,1)

'recordon

move a1 400 abs=1 vcruise=720

waitformotion a1

Print"Drive disable"

a1.En=0

FASTPLS1.PlsEnable   = OFF

FASTPLS1.PlsPolarity = OFF

Print"Test is done"

'recordclose

detach a1

End Program

 

=== 1.2.5 The Result ===

[[File:]]

In red the cycle times (4ms) In blue the output 7

As we can see the output is triggered even if it is not on the cycle time

Program Examples:fast-PLS

2023-02-08T13:27:07Z

Eliot: All the explain + test picture

{{Languages|Program_Examples:Path-PLS}}
== [[Program Examples:1.1 Feature introduction|1.1 Feature introduction]] ==

This feature is used for laser application or any device that need a drive output to be toggled as fast as possible depends on the motor drive position. The idea is to trigger the FAST output 7/8 of the CDHD2 as fast as possible depending on the position feedback. In point of view of drive without master it’s easy. But in our case, we want the master to trigger to outputs and the master can provide data depending on the cycle time and in most of case the cycle time is to long so it a problem. That why thanks to this feature the drive can trigger the output even if it is not on a cycle times, we will se how to parameter this feature from the master (mc) in the next chapter  

== [[Program Examples:1.2 Scenarios|1.2 Scenarios]] ==

I will explain the MC controller code that I wrote line by line The idea is to perform a homing process (home type 35) then to send motion to 400 degrees Meanwhile the motor is moving the user should see that the output 7 is toggled on 5 points: 150,175,200,220,360 degrees

=== [[Program Examples:1.2.1 HW connection|1.2.1 HW connection]] ===

 

 

In other word:  

 

 

 

=== [[Program Examples:1.2.2 Before running the code|1.2.2 Before running the code]] ===

Fast PLS output functionality need to be set on the drive (on out 7 or out 8) On the configurator in control studio two new objects need to be mapped on pdo4 : 2191h and 2205h

 

=== 1.2.3 The code ===

'------------------------------------------------------------------------------

' File:        <MyTask>.prg

' Purpose:     Just an example of a module header

' Version:     1.00

' Author:      <MyFullName>

' Description:

' History:     YYYY-MM-DD  <MyShortCut>  V1.00

'              Created

'------------------------------------------------------------------------------

' module global "constants"

 

'common shared FASTPLS1 as PLS a1 sys.DOut.1008

 

 

'Laser should be

'On when pfb =>  150  deg

'Off when pfb => 175   deg

'On when pfb =>  200  deg

'Off when pfb => 220   deg

'On when pfb =>  360   deg

 

 

program

dim actualpfb as long

dim tol as long = 0.1

dim i as long

 

attach a1

Print "------FastPLS V1.0--------"

Print "/!\Home proccess/!\"

call EC_SLAVE_SET_HOMING_PARAMETERS(a1,HOMING_METHOD,35)  ‘Hometype = 35

call EC_SLAVE_HOME_DS402(a1, 5000)   ‘Enable the home process

if a1.PFb < tol and a1.PFac > - tol then

Print "Homing : DONE ,Pfb = " + str$ (a1.PFb)

else

Print "->Homing : FAIL ,Pfb = " + str$ (a1.PFb)

end if

 

 

print "/!\ Init the Fast-PLS /!\ "

sys.dout.1008=0              'Turn off the output 1008 is pointing to DOUT 7 of the drive

 

FASTPLS1.PlsEnable = OFF        ' Disable the FastPLS

sys.dout.sim[1008]=0                ' set output as real

FASTPLS1.hwassistance=2        ' PLS as Fast PLS

CreatePlsData 5 FASTPLS1        ' Create 5 points

FASTPLS1.PlsPosition[1] =  150  

FASTPLS1.PlsPosition[2] =  175

FASTPLS1.PlsPosition[3] =  200

FASTPLS1.PlsPosition[4] =  220

FASTPLS1.PlsPosition[5] =  360

for i=1 to 5

 Print "PLS position number: " + str$(i)+ "= "; FASTPLS1.PlsPosition[i]

next

FASTPLS1.PlsSource = A1.Pcmd   ‘source of the PCOM

FASTPLS1.PLSPropagationDelay=0

FASTPLS1.PLSPropagationEnableDelay = 0

FASTPLS1.PlsPolarity = ON             'low to high polarity

FASTPLS1.PlsEnable   = ON             ‘Enable the fastpls

print "FastPLS Active "

print" "

Print"Motion activated"

a1.En=1

'record FASTPLS1.rec 50000 recdata = a1.PositionCommandHistory[1],a1.pcmd, 50*sys.dout[1008] ,ec_pdo_read(1,0x2191,0),a1.vcmd,((ec_pdo_read(1,0x2205,1) shl 4) shr 4), a1.PositionCommandHistory[1]+a1.vcmd*((ec_pdo_read(1,0x2205,1) shl 4) shr 4)/10/1e6

'record FASTPLS1.rec 10000 Gap=1 Recdata = a1.PCmd , 50*sys.dout[1008], ec_pdo_read(1,0x2191,0) , ec_pdo_read(1,0x2205,1)

'recordon

move a1 400 abs=1 vcruise=720

waitformotion a1

Print"Drive disable"

a1.En=0

FASTPLS1.PlsEnable   = OFF

FASTPLS1.PlsPolarity = OFF

Print"Test is done"

'recordclose

detach a1

End Program

 

=== 1.2.5 The Result ===

[[File:]]

In red the cycle times (4ms) In blue the output 7

As we can see the output is triggered even if it is not on the cycle time

Program Examples:fast-PLS

2023-02-08T13:24:56Z

Eliot: minor edit

{{Languages|Program_Examples:Path-PLS}}
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