Infranor XtrapulsPac - Positioning Sequence

140
X
trapulsPac – User Guide
Chapter 3 - Referenc
e
Object Definition
Sequence Control
These objects allow controlling the execution of a sequence.
Index Object Name Type
A
ttr.
0x3601 ARRAY Sequence Inputs rw
0x3602 ARRAY Sequence Outputs rw
0x3603 VAR Minimum Sequence Pulse Unsigned16 rw
0x3604 RECORD Output Pulse Configuration rw
0x3605 VAR Sequence phase Unsigned16 rw
0x360B VAR Sequence Capture Position integer32 rw
0x360F VAR Supported Sequence Type Unsigned16 ro
0x3612 VAR Maximum Sequences Supported Unsigned16 ro
Sequence Parameters
These objects allow the direct access to any parameter of any sequence.
The selected sequence number is defined by object 0x3610, and all sequence parameters are accessed by object
0x3611.
Index Object Name Type
A
ttr.
0x3610 VAR Sequence Parameters Number integer16 rw
0x3611 RECORD Sequence Parameters rw
3.2.3.8.1 - Positioning Sequence
The main parameters of a positioning sequence are:
- The position to be reached (absolute or relative)
- The motion speed
- The acceleration time
- The deceleration Time
- The delay time at the end of the motion
Example of 2 positioning sequences without stopping (the deceleration ramp of the first sequence is 0).
Sequence 1
Tdec=0 and NextSeq=2
Sequence 2
Acceleration
Decceleration
Speed
Current
Position
Target
Position
Delay Time
Sequence
End