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HARSFEN0602
The initial programming of the Amplifier includes:
EM[1]=1 Enable ECAM
EM[2]=200 Length of the ECAM vector
EM[3]=0 Starting position
EM[4]=100 Conveyer encoder counts between two consecutive
ECAM table entries
ET[1]=…;ET[2]=…;ET[100]=
…;
Program the numeric data of the ECAM table
UM=5 Set single sensor position mode
RM=1 Enable external referencing
AG[3]=0;FR[3]=0; Kill the external input
MO=1 Start motor
PA=1000;BG Go to waiting position
HY[2]=0;HY[3]=5;HY[1]=1 Null the auxiliary encoder count upon cake arrival (RLS
high)
Each Amplifier has the following AUTO_RLS routine:
function AUTO_RLS
/*
The RLS has operated an already programmed auxiliary homing process to synchronize
the follower input
*/
OB[1]=1;FR[3]=1; **Activate chocolate nozzle
** Enable the auxiliary encoder input with the
follower ratio of 1.
until (PY >= 2000) **Wait until end of the head contour
OB[1]=0; **Stop the chocolate
until (PY>=3000) **Go to start of eyes
OB[1]=1; **Restart the chocolate
until (PY>=4000) **Draw the eyes
OB[1]=0 **Stop the chocolate
FR[3]=0;PA=1000;BG; **Return to starting point
HY[1]=1 **Program the auxiliary encoder to reset again at the
next cake
return **End of auto subroutine
12.2.2 Dividing ECAM table into several logical portions
The ECAM table can store several distinct movements. A portion of the ECAM table is used
for each movement. That way a future movement can be programmed into the amplifier
while the present movement is executing.
Example
In the previous "Chocolate Teddy Bear" application example, we assumed that the Teddy
Bear could be programmed once.
In many food applications, the products to be worked on (the cake in the example) are not
placed exactly on the conveyer, or their shape may not be regular. A camera images the next
coming product, and the image is analyzed to form the next motion path.
The motion path for the analyzed image is communicated to the amplifier while the
amplifier works a previously programmed path – see figure below.