We think you have liked this presentation. If you wish to download it, please recommend it to your friends in any social system. Share buttons are a little bit lower. Thank you!
Presentation is loading. Please wait.
Published byDakota Joyner
Modified over 2 years ago
© 2013 SPiiPlus Training Class Single-Axis Motion 1
© 2013 Single-Axis Motion The controller commands single axis motion by generating 3 rd order motion profiles. Generates position, velocity, accel/decel, and jerk command every controller cycle (depends on product model but typically 1ms). Single axis motion commands: o Point to point o Jog o Halt o Kill o Motion queue Prerequisites: Axis must be enabled and commutated (if closed loop operation) 2
© 2013 Point to Point (PTP) Motion Moves an axis to a location which is specified as absolute or relative to current position. Follows a 3 rd order profile. PTP command format: PTP[/switches] (axis), desired position, [velocity] Optional PTP command switches: o PTP/r : make a relative motion to the current position o PTP/v : use defined velocity instead of default VEL o PTP/e : wait for PTP move to end (useful in programs) o PTP/rve: multiple switches allowed in same command 3
© Example: PTP/v (0), 1000, 2000 moves axis 0 to 1000, desired velocity 2000 Reference velocity Reference position Point to Point (PTP) Motion
© 2013 Motion Queue Motion commands are queued FIFO – for each axis. A motion queue can contain up to 5 motion commands. ACSPL+ program execution will immediately pause when a sixth motion command is initiated while five motion commands (for same axis) are currently in progress. Program will immediately resume when first motion is terminated. Variable GMQU gives number of motions in each motion queue. 5
© 2013 Motion Queue BREAK immediately terminates the currently executed motion of the specified axis without building a deceleration profile, and initiates the next motion in the axis motion queue, if it exists BREAK smoothly transitions into next move. If no more motion in queue, BREAK has no effect and the current motion continues as normal 6
© 2013 JOG Motion Creates motion with constant velocity and no defined end point Follows a 3 rd order profile JOG command format: JOG[/switches] (axis) [,velocity] [,-] Optional JOG command switch: o JOG/v: use defined velocity instead of default VEL 7
© 2013 JOG Motion Jogging: Example: JOG (4) Description: move axis 4 in positive direction (default VEL) Example: JOG/v (2), -300 Description: move axis 2 in negative direction at velocity of -300 Example: JOG (2), - Description: move axis 2 in negative direction (default VEL) 8
© 2013 Change Motion Parameters On-the-fly IMM: Use to change motion parameters VEL, ACC, and DEC during motion Smoothly transition from current 3 rd order motion profile to new 3 rd order motion profile 9
© Terminate motion with a deceleration profile: HALT command – axis will decelerate to zero according to DEC KILL command – axis will decelerate to zero according to KDEC Terminate motion without a deceleration profile: DISABLE command Motion Termination Methods
© Application Description: An axis on a wafer inspection machine needs to move an inspection head to several points across the wafer surface The first set of points requires no dwell time The second set of points requires 50ms dwell time to trigger the camera and process results After inspection, the inspection head needs to move an unspecified distance down the inspection line and stop after 5 seconds of travel Method: Load Programming 07 into Program Manager and review code Open the Communication Terminal (make sure Show Unsolicited Messages is selected) and view the output How many motions in the motion queue are displayed during the PTP moves? Exercise 1
© 2013 The inspection machine has been reworked for higher throughput, as a result neighboring wafers are closer together. Modify buffer 0 code to do the following: 1.Double inspection head velocity motion parameter to Reduce wafer edge position by half (to 5000) 3.After wafer inspection, only jog axis for 2.5 seconds 4.Replace HALT with KILL to stop axis faster 12 Exercise 2
© 2013 In order to improve product quality, a design rev has been issued with a spec change such that trigger points need to occur every user unit between 2000 and Simplify buffer 1 code to do the following: 1.Remove user arrays specifying absolute positions to move through and replace using relative point to point moves. 2.Use LOOP to move through the higher number of trigger points to avoid adding many lines of code 3.Reduce the wait time at each trigger point to 5ms 13 Exercise 3
© 2013 Another actuator has been added to the inspection machine for inspection head positioning. It needs to move the inspection head close to the wafer at trigger positions, then move back up before executing subsequent moves. Copy exercise 3 and add an additional axis to achieve this task. 14 Exercise 4
© 2013 SPiiPlus Training Class Motion Profile Generation 1.
© 2013 SPiiPlus Training Class Safety and Faults 1.
IOS103 OPERATING SYSTEM VIRTUAL MEMORY. Objectives At the end of the course, the student should be able to: Define virtual memory; Discuss the demand.
© 2013 SPiiPlus Training Class Homing. © 2013 Homing Homing is a very important aspect for almost any motion system. With a wide variety of mechanical.
SAPScript Forms. SAPScript Form Components SAPScript Form Components A form of the graphical Form Painter consists of five components. In alphanumeric.
Gruppo di Misure Meccaniche e Termiche UNIBS - DIMI Previously… We created a simulated temperature reader which alerts if too hot or too cold… Download.
I/O Management and Disk Scheduling Chapter 11. Categories of I/O Devices Human readable –Used to communicate with the user –Printers –Video display terminals.
© 2013 SPiiPlus Training Class MC4U Trainer Setup 1.
6-Hour Hands-On Introduction to LabVIEW. Course Goals Become comfortable with the LabVIEW environment and data flow execution Ability to use LabVIEW to.
2 Welcome To Defect Management Training Objective: The objective of this course is to learn about standards that emphasize a best practice approach for.
ENGT 122 – CAD I Chapter 3 – Draw Commands. Outline Chapter 3 – Draw Commands Drawing Arcs Drawing Rectangles Drawing Ellipses Drawing Polygons.
REPORTER 9.2. back to contents Contents Introduction to Reporter User interface – menu layout Creating a template – first steps Text Editing objects Variables.
User Query Control An Enhancement For AS/400 Query On The IBM iSeries from Copyright I/O International, 2005 Skip Intro.
ENGT 122 – CAD I CAD I – Outline & Chapter 1 – Intro to AutoCAD & Chapter 2 – Getting Started with Auto-CAD.
System Integration and Performance. System Bus Connects the CPU with main memory and other system components. Connects the CPU with main memory and other.
XP New Perspectives on Microsoft Office Word 2003 Tutorial 7 1 Microsoft Office Word 2003 Tutorial 7 – Collaborating With Others and Creating Web Pages.
Memory Management Background Swapping Contiguous Memory Allocation Paging Structure of the Page Table Segmentation Example: The Intel Pentium.
Working with Tables for Page Design – Lesson 41 Working with Tables for Page Design Lesson 4.
Chapter 7, Slide 1Starting Out with Visual Basic 3 rd Edition Chapter 7 Multiple Forms, Standard Modules, And Menus.
Visual Basic 2010 How to Program © by Pearson Education, Inc. All Rights Reserved.
Creating DataExpress Procedures TUTORIAL May 2, 2002 This presentation is designed to walk you through the basic steps of creating a DataExpress procedure.
2/2008 GISC 6382 UT-Dallas Briggs 1 Geometric Networks in ArcGIS Sewer, water, roads, etc..
ENGT 122 – CAD I Chapter 5 – Editing Objects. Selection Sets Most editing commands require objects to be selected in order to perform an operation. Most.
XP New Perspectives on Microsoft Office Word 2003 Tutorial 5 1 Microsoft Office Word 2003 Tutorial 5 – Creating Styles, Outlines, Tables, and Tables of.
Window Media Encoder Scorpio I Nyoman Nicharee Srirochanakul.
Section Goals Understand Tables Know how to create, edit, and use Tables Investigate ‘nesting’ Tables Be able to format Tables.
Routers and Routing Basics CCNA 2 Chapter 7.
T/HIS 9.2. back to contents Contents Principles of T/HIS User Interface Shortcut keys Reading LS-DYNA results files Reading data from other sources The.
ENGT 122 – CAD I Chapter 14 - Blocks. What’s a Block? Block - A group of objects combined to create a single object. Can be named and saved for later.
BD05/06 PL/SQL Introduction Structure of a block Variables and types Accessing the database Control flow Cursors Exceptions Procedures.
© 2016 SlidePlayer.com Inc. All rights reserved.