Program Examples:fast-PLS
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Contents
1.1 Feature introduction
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
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
C2 connection :
In other word:
1.3 Before running the code
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
'------------------------------------------------------------------------------
' 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