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AQ2, so that value of counts for encoder 1 will be equal to selected
setpoint. Value of action “F” will be added to the output value rated by PID
(max +/-10000). Keeping value of action “F” to 0 a zero, this action will not
affect regulation. The limit of output is conceived to limit the motion speed
of axis, particularly setting the limit to 5000 the combined output AQ1 and
AQ2 will assume max values +/-5.0V.
To assure optimal operation, the function POSPID must be recalled at
regular intervals, therefore it is possible to use an internal interrupt. All data
used by these functions are “double word” type(32 bit).
2.2.25 Function GENSET
Function GENSET allows to generate automatically a variable setpoint,
with option to enter an acceleration and deceleration ramp. Function
GENSET operates on a series of adjoining variables in double word,
starting with the location which is given as parameter of the function.
s area
VD
+0 State of function GENSET
0 Stop or end motion
1 Function initialization
2 Acceleration ramp
3 Motion at constant speed
4 Deceleration ramp
+2 Starting Setpoint / Setpoint rated at end of GENSET function
(counts)
+4 Final setpoint (counts)
+6 Motion speed (counts * 1000 / time units)
+8 Duration of acceleration ramp (time units)
+10 Duration of deceleration ramp (time units)
+12 Instant speed of setpoint (counts * 1000 / time units)
To use this function, proceed as follows:
- Enter on location VD+2 the starting setpoint
- Enter on location VD+4 the final setpoint
- Enter on location VD+6 max. motion speed as counts*1000/time units
(to have 3 decimals. Example: setting 12345 will give a speed of
12.345 counts/time units).
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