Emerson EZMotion - Summing Multiple Profiles

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EZMotion User/Programming Guide 45
Revision A8 www.controltechniques.com
Synchronized
6.7 Summing Multiple Profiles
Motor motion or "Axis" motion may be generated from either of two Profiles: Profile.0 and Profile.1. Each of these Profiles can
run any type of motion (i.e. Home, Index, Jog, Gear) at any time. Both of the Profiles can generate motion simultaneously. For
example while Gearing, an incremental index can be initiated "on top" of the Gear velocity using two separate profiles. The
distance and velocity of the two profiles are summed to generate the overall position command and velocity command for the
motor.
In order to run motion on both Profiles simultaneously, a program must be used. To specify which profile a motion object runs
on, the On Profile instruction is used. The default Profile is Profile.0 and therefore it is unnecessary to specify On Profile.0 in
user programs. If no Profile is specified, the default profile is used.
All motion run from the Assignments view is automatically run on Profile 0. It is not possible to change the Profile on which
motion run from the Assignments screen operates. Therefore, in order to run motion from both the Assignments screen and
from a program simultaneously, motion initiated by the program must be run on Profile 1.
Figure 57 shows an example to two separate profiles (Index 0 and Index 1). Each profile is shown individually, and then a
summed profile diagram is shown to demonstrate what the overall profile looks like when the profiles are summed.
Follower Distance Units Master Distance Units Vel. Timescale Accel Timescale Velocity Units Accel/Decel Units
Inches MstrInch N/A N/A
Inches/
MstrInch
Inches/MstrInch/
MstrInch
Revs MstrRev N/A N/A
Revs/
MstrRev
Revs/MstrRev/MstrRev
Degrees MstrInch N/A N/A
Degrees/
MstrInch
Degrees/MstrInch/
MstrInch