Program Examples:fast-PLS
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Contents
1.1 Feature introduction
This feature is used for laser application or any device that need a drive output to be toggled as fast as possible depends on the motor drive position.
The idea is to trigger the FAST output 7/8 of the CDHD2 as fast as possible depending on the position feedback.
In point of view of drive without master it’s easy.
But in our case, we want the master to trigger to outputs and the master can provide data depending on the cycle time and in most of case the cycle time is to long so it a problem.
That why thanks to this feature the drive can trigger the output even if it is not on a cycle times, we will se how to parameter this feature from the master (mc) in the next chapter
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