Control Techniques Epsilon EP-P - Program Array Access; Motion Instructions

126 Epsilon EP-P Drive Reference Manual
www.controltechniques.com Revision: A4
Where FLOOR is defined as rounding the argument down to the next whole integer value towards negative infinity.
Example: FLOOR(-3.5715) = -4 or FLOOR(3.5715) = 3
The FLOOR function itself is not available to the user within a user program.
Example 1: Modulus(5,1.4) Returns 0.8
Example 2: Modulus(5,-1.4) Returns -0.6
Example 3: Modulus(-5,1.4) Returns 0.6
Example 4: Modulus(-5,-1.4) Returns -0.8
BitAnd
This operator may be used when it is desirable to AND each individual bit of a 32-bit parameter. This operator can be found by clicking on
the
Drag in Operands button to open the Select Math Operator window.
var.var2 = var.var0 bitand var.var1
Example: if var.var0 = 1000 and var.var1 = -1
var.var0 = 0000000000000000000001111101000b
var.var1 = 1111111111111111111111111111111b
var.var2 = 0000000000000000000001111101000b
BitOr
This operator may be used when it is desirable to OR each individual bit of a 32-bit parameter. This operator can be found by clicking on
the
Drag in Operands button to open the Select Math Operator window.
var.var2 = var.var0 bitor var.var1
Example: if var.var0 = 1000 and var.var1 = -10000
var.var0 = 0000000000000000000001111101000b
var.var1 = 1111111111111111101100011110000b
var.var2 = 1111111111111111101101111111000b
4.4.3 Program Array Access
Cam[ ].Master
This instruction allows the user to write to a cam tables master value at a given table number and element number.
Example:
Cam[0,3].Master =7
Cam[ ].Follower
This instruction allows the user to write to a cam tables master value at a given table number and element number.
Example:
Cam[1,2].Follower =3
Cam[ ].Interpolation
This instruction allows the user to write to a cam tables master value at a given table number and element number.
Example:
Cam[0,3].Interpolation =5
4.4.4 Motion Instructions
Dwell For Time
This motion instruction is used to pause program execution for a very precise amount of time. It operates as a motion instruction – similar to
an index, home or jog. Like all other motion instructions it will not start until the preceding motion instruction has completed. A “Wait for
Index.AnyCommandComplete” is not required. Likewise, any subsequent motion commands will wait and start after the dwell has completed.
The total time required to complete a sequence of indexes and “Dwell For Time” instructions is extremely repeatable.
The “Dwell For Time” instruction is in units of seconds with a resolution of milliseconds (0.000 seconds).
If you want to pause the program while an index is executing you should use a “Wait for Time” instruction described below.
A comment is automatically inserted after the “Dwell For Time” instruction which notes that the dwell time is in units of seconds. The comment
starts with the ‘ character.
Examples:
Do While (TRUE)
Index.0.Initiate ‘Incremetal,Dist=25.000in,Vel=25in/s
Dwell For Time 1.000 ‘Seconds
Loop
Do While (TRUE)
Index.0.Initiate ‘Incremetal,Dist=25.000in,Vel=25in/s
Dwell For Time 1.000 ‘Seconds
Index.1.Initiate ‘Incremental,Dist=15.000in,Vel=25in/s
Dwell For Time 0.500 ‘Seconds
Loop