Control Techniques Epsilon EP-P User Manual

Epsilon EP-P Drive Reference Manual 143
Revision A4 www.controltechniques.com
If((DriveInput.4=OFF) AND (DriveOutput.4=ON)) Then
DriveOutput.4=OFF
Endif
Loop
Sequence Learn and Playback
This example consists of three programs. The first program is used to learn 3 positions using “Jog+”, “Jog-“, “Jog Fast” and
“Learn” inputs. The second program is called several times by the first program. The third program steps through the learned
positions
Learn Program (Program 0)
Home.0.Initiate ‘Sensor,Offset=0.000in,Vel=-10in/s
Index.1.Initiate ‘Move to position 1
Wait For Index.AnyCommandComplete
Call Program.1 ‘Program 1 allows the axis to be jogged
‘into position
If (DriveInput.1=ON) Then ‘Learn the new position if the “Learn”
‘input is on
Index.1.Dist = PosnCommand ‘Read the Position Command into Index.1’s
‘absolute position.
Endif
Wait For DriveInput.1=OFF ‘Wait until the “Learn” input goes off
Wait For DriveInput.2=OFF ‘Wait until the “Skip” input goes off
Index.2.Initiate ‘Move to position 2
Wait For Index.AnyCommandComplete
Call Program.1 ‘Program 1 allows the axis to be jogged
‘into position
If (DriveInput.1=ON) Then ‘Learn the new position if the “Learn”
‘input is on
Index.2.Dist = PosnCommand ‘Read the Position Command into Index.2’s
‘absolute position.
Endif
Wait For DriveInput.1=OFF ‘Wait until the “Learn” input goes off
Wait For DriveInput.2=OFF ‘Wait until the “Skip” input goes off
Index.3.Initiate ‘Move to position 3
Wait For Index.AnyCommandComplete
Call Program.1 ‘Program 1 allows the axis to be jogged
‘into position
If (DriveInput.1=ON) Then ‘Learn the new position if the “Learn”
‘input is on
Index.3.Dist = PosnCommand ‘Read the Position Command into Index.3’s
‘absolute position.
Endif
Wait For DriveInput.1=OFF ‘Wait until the “Learn” input goes off
Wait For DriveInput.2=OFF ‘Wait until the “Skip” input goes off
Subroutine for Jogging the Axis into the Desired Position (Program 1)
‘Allow jogging until either the “Learn” input (DriveInput.1)
‘or the “Skip” input (DriveInput.2) goes ON.
Do While ((DriveInput.1=OFF) AND (DriveInput.2=OFF))
If (DriveInput.3=ON) Then ‘Jog+ if the Jog+ input is on
Jog.0.PlusInitiate ‘Vel=0.1in/s
Do While (DriveInput.3=ON)
If (DriveInput.5=ON) Then ‘DriveInput.5 = “Jog Fast”
Jog.0.Vel = 1.0 ‘in/s
Else
Jog.0.Vel = 0.1 ‘in/s

Control Techniques Epsilon EP-P Specifications

General

Product Series	Epsilon EP-P
Category	Servo Drives
Manufacturer	Control Techniques
IP Rating	IP20
Certifications	CE, UL, cUL
Control Modes	Torque, Velocity, Position
Feedback	Incremental Encoder
Communication Interfaces	CANopen
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature, Short Circuit
Ambient Operating Temperature	0°C to 40°C
Storage Temperature	70°C
Relative Humidity	5% to 85% (non-condensing)
Cooling Method	Convection cooling