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
}
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