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Programming
the following error is less than a specified amount. This is accomplished by changing the
“Wait For Index.AnyCommandComplete” to “Wait For InPosn”. The In Position Window is
configured in the Position view.
Examples:
Index.0.Initiate ‘Incremental,Dist=5.000in,Vel=2.0in/s
Wait For Index.AnyCommandComplete
Index.37.Initiate ‘Absolute,Posn=120.60mm,Vel=50.2mm/s
Wait For InPosn
Index.CompoundInitiate
This program instruction is used to initiate an index which has no deceleration ramp. The
index accelerates or decelerates towards the next index velocity using the next index
acceleration ramp. The index will finish at velocity. The program then moves on to the next
index. It smoothly transitions into the second index without stopping. The second index then
ramps to its pre-configured velocity. Multiple indexes can be “compounded” to create a
complex velocity profile. The last index in a complex profile must have a deceleration ramp.
This is accomplished using a standard Index.Initiate rather than a Index.CompoundInitiate.
The final index will honor the deceleration ramp. If the last index is not long enough to
perform a decel ramp at the programmed rate, the motor will backup at the end of the last
index.
Each index can be used in multiple places as both a standard index with a deceleration ramp,
and a compound index without a deceleration ramp. The program instruction
(Index.0.Initiate or Index.0.CompoundInitiate), not the index itself, determines whether or
not the index will execute a deceleration ramp. For example, Index.0 can be used multiple
times in multiple programs. It can be initiated at different times using the Index.0.Initiate
instruction and the Index.0.CompoundInitiate instruction.
A comment is automatically inserted after the index instruction which shows key data about
the particular index. The comment starts with the apostrophe ‘ character.
Examples:
Index 1Index 0 Index 2
Tim
e
Velocity
Complex Velocity Profile