MC-Basic:pls.HWASSISTANCE
The property for hardware assisted PLS mode switch On/Off .
These properties may be set when the PLS is disabled. The PLS should be declared before.
- 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 (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.
- 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.
 | NOTE |
| 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 |
| 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