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How User Programs Work www.emersonct.com 73
Example:
Gear.Initiate
Wait for EZInput.2=ON
Gear.Stop
This instruction should not be used within a loop in the user
program. If the Gear.Initiate instruction is processed while
gearing is active, the program wll hang on this instruction.
8.4.2.12 Profile.ProfileStop
Profile.ProfileStop is used to stop motion on a single
profile, without stopping the other profiles.The user must
specify the profile they with to stop (i.e.0 or 1).
Example:
If (SPInput.4-ON) Then
Profile.1.ProfileStop
EndIf
8.4.3 Motion Modifier Instructions
8.4.3.1 Using Capture
The Using Capture instruction can be inserted after any
Jog Initiate, Index Initiate, Dwell for Time, and Dwell for
Master Dist instructions. By inserting the Using Capture
instruction, it specifies that data captured by the position
capture object is to be used as the starting point for the
motion initiate. If the motion time base is realtime, then the
captured time is used as the starting point for the motion
profile. If the motion time base is synchronized, then the
captured master position is used as the starting point for
the profile.
Example:
Wait For (Capture.0.CaptureTriggered)
Index.0.Initiate Using Capture.0
8.4.3.2 Using Last
When the Using Last instruction is inserted after a motion
initiate instruction, the time (or master position in synch
motion) of the last command complete is used as the
starting point of the motion profile. Whenever a motion
profile is complete, the time/position is automatically
captured behind the scenes. The Using Last instruction
simply references this "automatically" captured time or
position.
The SM-EZMotion module performs motion based on a
concept called the timeline. The timeline allows for
accurate and repeatable motion with respect to a single
point in time. The timeline guarantees that all motion
profiles occur at the right time with respect to each other.
If Index0 takes 3 seconds to complete, and Index1 takes 5
seconds to complete, by initiating Index0 and then Index 1
in a program, the user would expect these profiles to take
a total of 8 seconds to complete. It is possible though, that
because of processor timing, Index.1 does not start at
exactly the same time Index0 is complete. Therefore, the
two profiles could take slightly more than 8 seconds to
complete. Although the amount of time lost is extremely
small (less than 5 milliseconds), over a long period of time,
this lost time can accumulate.
Keeping the timeline intact is most important in
applications using synchronized motion. This is because in
synchronized motion, time is replaced by master encoder
motion. If time is lost in a synchronized motion application,
then master distance is lost, and the follower position is off
with respect to the master.
Example:
Index.0.Initiate
Dwell For Time 1.000 Using Last
Index.1.Initiate Using Last
8.4.3.3 On Profile
The On Profile instruction can be inserted after any motion
type Initiate, Dwell for Time, or Dwell for Master Dist
instructions. By inserting the On Profile modifier, it
specifies which Profile the instruction will run on (See
Multiple Profiles section for more information). Select from
Profile 0 or Profile 1. Both Profiles sum to give a single
commanded position and commanded velocity. If no On
Profile modifier is used, the motion/dwell will operate on
Profile 0. All motion that is initiated from the assignments
screen operates on Profile 0.
The On Profile modifier is also used with the Jog.Stop and
Gear.Stop. When stopping jog or gear motion that is
operating on Profile 1, the On Profile.1 modifier must also
be used on the stop instruction.
Example:
Index.0.Initiate
Index.1.Initiate On Profile.1
Gear.Initiate On Profile.1
Wait For EZInput.3 = ON
Gear.Stop On Profile.1
Example:
Jog.0.PlusInitiate On Profile.1
Index.0.Initiate
Wait For Index.AnyCommandComplete
Wait For EZInput.2 = ON
Jog.Stop On Profile.1
8.5 Red Dot Error Bar
The Red Dot Error Bar is used to display if an error exists
on a particular line of code in the user program.
PowerTools Pro uses a program parser that reads the user
program, and translates it directly into the language that
the SM-EZMotion processor understands. If the parser
detects a mistake (i.e syntax error) in an instruction, a Red
Dot will appear next to that line of code in the Red Dot Error
Bar.
To find out what the error is, PowerTools Pro has a utility
called Red Dot Help. To use Red Dot Help, click on the Red
Dot Help icon on the Program Toolbar. This will place