Difference between revisions of "MC-Basic:pls.HWASSISTANCE"

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|DESCRIPTION=
 
|DESCRIPTION=
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The property  for hardware assisted PLS  mode switch On/Off  .
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The high-accuracy PLS timing mode is activated by HWAssistance.<br>
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*PLS High Accuracy On  (<pls>.HWAssistance = 1)
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These properties may be set when the PLS is disabled. The PLS should be declared before.
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::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>  
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* '''Turned Off''' - the PLS outputs are switched at the time of passing of the PLS source through the PLS position. The time of PLS output switch is always on integer number of motion-samples so the time accuracy of the PLS in this case equals the motion-sample duration ([[MC-Basic:SERCOS.CYCLETIME|Sercos.CycleTime]]). For the given example of '''PositionErrorDelay''' = 3 , in the case the PLS source is position command, the PLS output will be switched '''''2 samples before''''' the position command is set in the drive and in case the PLS source is position feedback it will be switched '''''1 sample after''''' the event.<br/>  
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::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. In instances of constant acceleration or linear acceleration change between the two samples, the timing of the PLS is computed exactly to ±1µs.<br>
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*PLS High Accuracy Off  (<pls>.HWAssistance = 0)
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* '''Turned on''' - the time of PLS output switch will be computed in microseconds accuracy. The exact time of PLS output switch is computed according the current velocity and acceleration values of the sample before and after the PLS position. In case of '''constant acceleration''' or linear '''acceleration change''' between the two samples time of the PLS is computed exactly up to the '''±1μsec'''.  
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::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 <nowiki>4.5.29</nowiki> and before, the position command delay of P<nowiki>ositionErrorDelay-2</nowiki> <br/> samples will be taken into account as <nowiki>hard-coded</nowiki> expression. This means that in case of <nowiki>PositionErrorDelay = 3</nowiki>,<br/> when the PLSposition is passed, the output will be triggered after 1 sample delay plus Δt, the inter-sample delay.}}
 
{{Note | Note that with fw version <nowiki>4.5.29</nowiki> and before, the position command delay of P<nowiki>ositionErrorDelay-2</nowiki> <br/> samples will be taken into account as <nowiki>hard-coded</nowiki> expression. This means that in case of <nowiki>PositionErrorDelay = 3</nowiki>,<br/> when the PLSposition is passed, the output will be triggered after 1 sample delay plus Δt, the inter-sample delay.}}

Revision as of 13:34, 10 October 2018

The high-accuracy PLS timing mode is activated by HWAssistance.

  • PLS High Accuracy On (<pls>.HWAssistance = 1)
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.
If HWAssistance is active, the timing of the PLS output switch will be computed to an accuracy of microseconds.
 ::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. In instances of constant acceleration or linear acceleration change between the two samples, the timing of the PLS is computed exactly to ±1µs.
  • 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.
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-Info.svgNOTE
Note that with fw version 4.5.29 and before, the position command delay of PositionErrorDelay-2
samples will be taken into account as hard-coded expression. This means that in case of PositionErrorDelay = 3,
when the PLSposition is passed, the output will be triggered after 1 sample delay plus Δt, the inter-sample delay.
NOTE-Info.svgNOTE
Hwassistance is available only in systems that have the hardware that support this functionality

Short form

<pls>.HWAssistance

Syntax

?<pls>. HWAssistance

Availability

Versions 4.4.5 and higher

Type

Long

Range

1 - TRUE  - starts the hardware assisted PLS  mode

0 - FALSE

Default

FALSE

Scope

Configuration, Task or Terminal

Limitations

Modal/Nodal

The hardware assisted PLS  works with System.DOut from 1 to 8

Examples

?PLS1. HWAssistance

PLS1. HWAssistance = True

See Also

Retrieved from "http://softmc.servotronix.com/index.php?title=MC-Basic:pls.HWASSISTANCE&oldid=133020"