PLS SETUP PROCEDURE
The following example demonstrates the set up of a PLS data structure.
 | IMPORTANT |
| The PLS data object must be defined in CONFIG.PRG:
Common Shared <PLS Name> as PLS <Axis> System.Dout.<DOut number> For Example: Common Shared Demo_PLS1 as PLS A1 System.Dout.1 |
Program
call SetAxis
try
Demo_PLS1.PlsEnable = OFF
catch 3163 ' PLS value cannot be accessed before the pls data is created
Print "CreatePlsData not done!"
end try
CreatePlsData 2 Demo_PLS1 ' 2 points to toggle PLS
Demo_PLS1.PlsPosition[1] = 100.0
Demo_PLS1.PlsPosition[2] = 250
Print "PLS position 1: "; Demo_PLS1.PlsPosition[1]
Print "PLS position 2: "; Demo_PLS1.PlsPosition[2]
Print "Polarity: "; Demo_PLS1.PlsPolarity
Print "PLS-Repeat: "; Demo_PLS1.PlsRepeat
'Demo_PLS1.PlsRepeat = 1000 'Repeat distance e.g. for endless axes, switch all 1000mm
Print "PLS-Hysteresis: "; Demo_PLS1.PlsHysteresis
'Demo_PLS1.PlsHysteresis = 0.01 'necessary if the axis must stop at PLS position
Print A1.PlsSource
Attach A1
A1.PlsSource = A1.Pfb
Detach A1
' Print "PLS-Axis : "; Demo_PLS1.PlsAxisname
Print Demo_PLS1.PlsAxisname
' Print "PLS-Output: "; Demo_PLS1.PlsOutput
Demo_PLS1.PlsOutput = Sys.DOut.1
Print Demo_PLS1.PlsOutput
Print "PLS-Active: "; Demo_PLS1.PlsEnable
Demo_PLS1.PlsPolarity = ON 'switch default SignalOutput-Status to OFF
Demo_PLS1.PlsEnable = ON
Print "PLS-Active: "; Demo_PLS1.PlsEnable
End Program
'****************************************************************************
' Subroutine Name: SetAxis
' Description: Generic Axis Setup
' Called From: Program
' Author: Nir Geller
' Input Parameters: None
' Output Parameters: None
' Return Value: Void
' Algorithm:
' Global Variables Used:
' Revisions:
'****************************************************************************
sub SetAxis
with A1
attach
Simulated = 1
en = 0
sleep 1000
Vmax = 3000
VelocityOverride = 100
VelocityOverspeed = 3600
VRate = 100
ARate = 100
DRate = 100
JRate = 100
Vcruise = 3000
'VelocityJog = 100
Amax = 30000
Acc = 30000
Dmax = 30000
Dec = 30000
Jmax = 948000
Jerk = 948000
Cp = 0.0000
BlendingMethod = 1
BlendingFactor = 100
Pfac = 6400
Vfac = 6.4
Afac = 0.0064
Jfac = 0.0000064
Feedback = 0
PmaxEn = 1
Pmax = 495
PminEn = 1
Pmin = -10
PeMax = 1000000000000000000000
PositionErrorDelay = 3
PositionErrorSettle = 0.1
TimeSettle = 4
TimeSettleMax = 992
Direction = 1
Wrap = 0
Absolute = 1
detach
end with
end sub