Difference between revisions of "MC-Basic:pls.HWASSISTANCE"
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|AVAILABILITY= | |AVAILABILITY= | ||
| − | Versions 4. | + | Versions 4.21.2 and higher |
|DESCRIPTION= | |DESCRIPTION= | ||
The high-accuracy PLS timing mode is activated by HWAssistance.<br> | The high-accuracy PLS timing mode is activated by HWAssistance.<br> | ||
| − | *PLS High Accuracy On | + | *PLS High Accuracy On (<pls>.HWAssistance = <value>)<br> |
| + | |||
::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> | ::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> | ||
::If HWAssistance is active, the timing of the PLS output switch will be computed to an accuracy of microseconds.<br> | ::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.<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.<br> | ||
::In instances of constant acceleration or linear acceleration change between the two samples, the timing of the PLS is computed exactly to ±1µs.<br> | ::In instances of constant acceleration or linear acceleration change between the two samples, the timing of the PLS is computed exactly to ±1µs.<br> | ||
| − | *PLS High Accuracy Off | + | *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. <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. | ::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 | + | {{Note | Note that with fw version ?'"`UNIQ--nowiki-00000001-QINU`"'? and before, the position command delay of P?'"`UNIQ--nowiki-00000002-QINU`"'? <br/> samples will be taken into account as ?'"`UNIQ--nowiki-00000003-QINU`"'? expression. This means that in case of ?'"`UNIQ--nowiki-00000004-QINU`"'?,<br/> 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 <!-- | + | {{Note | '''Hwassistance''' is available only in systems that have the hardware that support this functionality <!-- -->}} |
| Line 28: | Line 29: | ||
|RANGE= | |RANGE= | ||
| − | + | 0 - no HW assistance <br> | |
| + | 1 - el2258 time-stamping module <br> | ||
| + | 2 - CDHD2 PCOM1/PCOM2 <br> | ||
| − | + | ||
| + | FALSE | ||
|UNITS= | |UNITS= | ||
| Line 42: | Line 46: | ||
|LIMITATIONS= | |LIMITATIONS= | ||
| − | *Available only in systems with hardware that supports this functionality | + | *Available only in systems with hardware that supports this functionality timestamping module el2258 or CDHD2 PCOM1/PCOM2 <br> |
*Modal/Nodal<br> | *Modal/Nodal<br> | ||
| − | |||
|EXAMPLE= | |EXAMPLE= | ||
| − | ? | + | CDHD2 Setup <br> |
| + | 1.Add objects 0x2191.0/0x2205.1 (PCOM1) or 0x2192.0/0x2206.1 (PCOM2) to TXPDO <br> | ||
| + | 2.Two (2) additional outputs above digital outputs (for instance, 0x1008 and 0x1009 if CDHD2 is the first device on the network) will be implicitly mapped into sys.dout<br> | ||
| + | -->?ver<br> | ||
| + | Version Number = MULTIBUS 0.4.21.2r1-C2 , Date = Nov 27 2022 [15:02:17]<br> | ||
| + | -->common shared HWPLS1 as PLS a1 sys.DOut.1008<br> | ||
| + | -->sys.DOut.1008 = 0 'test that output is available and can be reached <br> | ||
| + | -->HWPLS1.HWAssistance=2<br> | ||
| + | -->?plslist<br> | ||
| + | PlsName=HWPLS1,AxisName=A1,Output=sys.dout.1008,HWAssistance=TRUE<br> | ||
| + | ?HWPLS1.PLSPropagationDelay=0<br> | ||
| + | |||
| + | |||
| − | |||
|SEE ALSO= | |SEE ALSO= | ||
Latest revision as of 11:25, 28 November 2022
The high-accuracy PLS timing mode is activated by HWAssistance.
- PLS High Accuracy On (<pls>.HWAssistance = <value>)
- 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.
- 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.
- 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.
- When HWAssistance is not active (normal PLS), the PLS outputs are toggled at the moment the PLS source crosses the PLS position.
 | NOTE |
| Note that with fw version ?'"`UNIQ--nowiki-00000001-QINU`"'? and before, the position command delay of P?'"`UNIQ--nowiki-00000002-QINU`"'? samples will be taken into account as ?'"`UNIQ--nowiki-00000003-QINU`"'? expression. This means that in case of ?'"`UNIQ--nowiki-00000004-QINU`"'?, 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 4.21.2 and higher
Type
Long
Range
0 - no HW assistance
1 - el2258 time-stamping module
2 - CDHD2 PCOM1/PCOM2
FALSE
Default
FALSE
Scope
Configuration, Task or Terminal
Limitations
- Available only in systems with hardware that supports this functionality timestamping module el2258 or CDHD2 PCOM1/PCOM2
- Modal/Nodal
Examples
CDHD2 Setup
1.Add objects 0x2191.0/0x2205.1 (PCOM1) or 0x2192.0/0x2206.1 (PCOM2) to TXPDO
2.Two (2) additional outputs above digital outputs (for instance, 0x1008 and 0x1009 if CDHD2 is the first device on the network) will be implicitly mapped into sys.dout
-->?ver
Version Number = MULTIBUS 0.4.21.2r1-C2 , Date = Nov 27 2022 [15:02:17]
-->common shared HWPLS1 as PLS a1 sys.DOut.1008
-->sys.DOut.1008 = 0 'test that output is available and can be reached
-->HWPLS1.HWAssistance=2
-->?plslist
PlsName=HWPLS1,AxisName=A1,Output=sys.dout.1008,HWAssistance=TRUE
?HWPLS1.PLSPropagationDelay=0