Program Examples:fast-PLS

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1.1 Feature introduction

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This feature is used for laser applications or any other application that needs a drive's digital output to be toggled as fast as possible, depending on the motor position.
In this example the FAST digital output 7/8 of the CDHD2 is triggered as fast as possible depending on the position feedback.
Instead of using the drive's position-based PCOM feature, we will use the softMC's fast PLS feature together with the drive's time-based PCOM feature, to trigger the digital output. The fast PLS feature allows us to trigger the drive's output even between EtherCAT cycles.

1.2 Scenarios

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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

1.2 HW connection

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C2 connection : 

In other word:

 

1.3 Before running the code

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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

 

1.4 The code

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

' 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

 

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