View source for MC-Basic:pls.HWASSISTANCE

{{MC-Basic
|SHORT FORM=
''<pls>''.HWAssistance

|SYNTAX=
?''<pls>''. HWAssistance

|AVAILABILITY=
Versions 4.21.2 and higher

|DESCRIPTION=
The high-accuracy PLS timing mode is activated by HWAssistance.<br>
*PLS High Accuracy On (<pls>.HWAssistance = <value>)<br>

::When high-accuracy mode is active, the Product software extrapolates the exact time at which the axis will reach the PLS position, based on its current position, velocity and acceleration, and sets an output event for that time.<br> 
::If HWAssistance is active, the timing of the PLS output switch will be computed to an accuracy of microseconds.<br> 
::The exact timing of the PLS switch is computed according to the current velocity and acceleration values of the samples before and after the PLS position.<br>
::In instances of constant acceleration or linear acceleration change between the two samples, the timing of the PLS is computed exactly to ±1µs.<br>
*PLS High Accuracy Off (<pls>.HWAssistance = 0)
::When HWAssistance is not active (normal PLS), the PLS outputs are toggled at the moment the PLS source crosses the PLS position. <br> The timing of the PLS switch is always an integer number of motion samples; therefore, the ::timing accuracy of the PLS is equivalent to the motion bus cycle. 

{{Note | Note that with fw version ?'"`UNIQ--nowiki-00000001-QINU`"'? and before, the position command delay of P?'"`UNIQ--nowiki-00000002-QINU`"'? <br/> samples will be taken into account as ?'"`UNIQ--nowiki-00000003-QINU`"'? expression. This means that in case of ?'"`UNIQ--nowiki-00000004-QINU`"'?,<br/> when the PLSposition is passed, the output will be triggered after 1 sample delay plus Δt, the inter-sample delay.}}

{{Note | '''Hwassistance''' is available only in systems that have the hardware that support this functionality <!--  -->}}


|TYPE=
Long

|RANGE=
0  - no HW assistance <br>
1  - el2258 time-stamping module <br>
2  - CDHD2 PCOM1/PCOM2 <br>


FALSE

|UNITS=


|DEFAULT=
FALSE

|SCOPE=
Configuration, Task or Terminal

|LIMITATIONS=
*Available only in systems with hardware that supports this functionality timestamping module el2258 or CDHD2 PCOM1/PCOM2 <br>
*Modal/Nodal<br>

|EXAMPLE=
?PLS1. HWAssistance

PLS1. HWAssistance = 2 <br>
CDHD2 Setup <br>
1.Add objects 0x2191.0/0x2205.1 (PCOM1) or 0x2192.0/0x2206.1 (PCOM2) to TXPDO <br>
2.Two (2) outputs above digital outputs will be implicitly mapped into sys.dout



|SEE ALSO=
* [[MC-Basic:COMMON SHARED ... AS PLS|COMMON SHARED ... AS PLS]]


}}