Controllo posizionamento con host controller TRIO tramite EtherCAT

'DEMO program

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'Defining the most important axis parameters:

BASE(0) 'states that the following declarations are valid for axis 0

P_GAIN=2.5 'the proportional gain sets the stiffness of the servo response

I_GAIN=0.0 'used as part of the closed loop control, adding integral gain to a system reduces position error when at

'rest or moving steadily. It will produce or increase overshoot and may lead to oscillation

D_GAIN=0.0 'Used as part of the closed loop control, adding derivative gain to a system is likely to produce a

'smoother response and allow the use of a higher proportional gain than could otherwise be used. High values may

'lead to oscillation

OV_GAIN=0.0 'The Output Velocity (OV) gain is a gain constant which is multiplied by the change in measured positio

'n. The result is summed with all the other gain terms and applied to the servo DAC. Adding NEGATIVE output velocity

'gain to a system is mechanically equivalent to adding damping. It is likely to produce a smoother response and allow

'the use of a higher proportional gain than could otherwise be used, but at the expense of higher following errors.

'High values may lead to oscillation and produce high following errors

VFF_GAIN=23.0 'The velocity feed forward gain is a constant which is multiplied by the change in demand position.

'Velocity feed forward gain can be used to decreases the following error during constant speed by increasing the output

'proportionally with the speed

UNITS=1.0 'conversion factor that allows the user to scale the edges/ stepper pulses to a more convenient scale

SPEED=10000000.0 'can be used to set/read back the demand speed axis parameter

ACCEL=100000000.0 'used to set or read back the acceleration rate of each axis fitted. The acceleration rate is in

'UNITS /sec/sec

DECEL=100000000.0 'used to set or read back the deceleration rate of each axis fitted

CREEP=10000.0 'Sets the CREEP speed on the current base axis. The creep speed is used for the slow part of a DATUM

'sequence

JOGSPEED=1000000.0 'Sets the jog speed in user units for an axis to run at when performing a jog

FE_LIMIT=40000000.0 'This is the maximum allowable following error. When exceeded the controller will generate an

'AXISSTATUS error, by default this will also generate a MOTION_ERROR

DRIVE_FE_LIMIT= 2000000.0 'This is the maximum allowable following error applied to the DRIVE_FE value. i.e. the

'actual following error in a remote drive which is received via a fieldbus such as EtherCAT

DAC=0 'Writing to this parameter when SERVO = OFF and AXIS_ENABLE = ON allows the user to force a demand value for

'that axis

SERVO=1 'switches closed loop servo control on or off

REP_DIST=10000.0 'contains the allowable range of movement for an axis before the position count overflows or underflows

FWD_IN=-1 'holds the input number to be used as a forward limit input (-1: Input disabled)

REV_IN=-1 'holds the input number to be used as a reverse limit input (-1: Input disabled)

DATUM_IN=-1 'holds a digital input channel to be used as a datum input (-1: Input disabled)

FHOLD_IN=-1 'holds the input number to be used as a feedhold input (-1: Input disabled)

FS_LIMIT=2000000000000000.0 'holds the absolute position of the forward travel limit in user units

RS_LIMIT=-200000000000000.0 'holds the absolute position of the reverse travel limit in user units

SERVO AXIS(0) = ON 'addresses servo axis 0 to be switched on

WDOG = ON 'Controls the WDOG relay contact used for enabling external drives

PRINT #0, "Machine Active" 'prints "Machine Active" in the terminal channel #0

MOVE(83886080) AXIS(0) 'lets the motor rotate exactly 1 rpm (23bit encoder--> 8388608 pulses per revolution)

WAIT IDLE AXIS(0) 'waits until the axis movement is finished

WA(1000) 'waits 1000ms and proceeds with the rest of code

SERVO AXIS(0) = OFF 'addresses servo axis 0 to be switched off

WDOG = OFF 'switches Off the WDOG and hence the external drive

PRINT #0, "Machine Inactive" 'prints "Machine Inactive" in the terminal channel #0