Using eCycleMode
The eCycleMode variable offers the following setting options:
Setting: ADJUST_SLAVE_REFERENCE_POSITION
In this setting, the reference point for the next curve is placed onto the end point of the previous curve once a cam profile has been passed through. In this way, curves beginning with slave position 0 can be arranged in a continuous row. In the example, a change is made between the following curves so they are passed through several times one after the other.
The following trace recording shows the profile in which first curve 1 is passed through three times, next curve 2 two times, and finally curve 1 again:
[1] | SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrPosition |
[2] | SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrVelocity |
[3] | SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrAcceleration |
[4] | SEW_GVL.Interface_Axis2.ProfileGeneration.Camming.IN.xGetNewCamDescription |
[5] | SEW_GVL.Interface_Axis2.ProfileGeneration.Camming.OUT. xGetNewCamDescriptionDone |
[6] | SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrPosition |
[7] | SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrVelocity |
[8] | SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrAcceleration |
Setting: KEEP_SLAVE_REFERENCE_POSITION
This setting is useful, for example, when users want to switch between several curves and want to interpret the position of the various curve profiles as the absolute position of the slave axis.
A simple application could be to control the feeding out of goods. It is controlled by switching between the following 4 curves:
In all curves, the position of the curve profile corresponds to the absolute position of the slave axis. This means the reference point is the same in all curves, i.e. the 0 line. In this case, the end point of curve 1 must not be set automatically as the new reference point for curve 2 when switching from curve 1 to curve 2 because this would cause an abrupt setpoint change. The eCycleMode parameter must therefore be set to the value "KEEP_SLAVE_REFERENCE_POSITION".
When this setting is selected, the user is responsible for implementing the control in such a way that no abrupt setpoint changes occur. In this example, the user must ensure that once curve 1 has been passed through, switching takes place either to curve 2 or to curve 3. In the same way, curve 3 must be followed by curve 4 or by curve 1 again.
The following trace recording shows an example of a profile that could be resulting from switching between the various curves. The following sequence of curves is shown:
Curve 1 => curve 2 => curve 3 => curve 4 => curve 1 => curve 3
[1] | SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrPosition |
[2] | SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrVelocity |
[3] | SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrAcceleration |
[4] | SEW_GVL.Interface_Axis2.ProfileGeneration.Camming.IN.xGetNewCamDescription |
[5] | SEW_GVL.Interface_Axis2.ProfileGeneration.Camming.OUT. xGetNewCamDescriptionDone |
[6] | SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrPosition |
[7] | SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrVelocity |
[8] | SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation. stSetpointsUserUnits.lrAcceleration |
