Motion External |
The “Motion - External” dialogue allows you to program the drives/motors to work with an external reference provided by another device. There are 3 types of external references:
Select Analogue if the external reference is an analogue signal. This signal is interpreted as a:
Remark: Check the drive/motor setup for the correspondence between the analogue input voltage and the reference values. In position control, check Limit maximum speed at and set a desired value, if you want to avoid mechanical shocks by limiting the maximum speed at sudden changes of the position reference. In speed control, check Limit maximum acceleration at and set a desired value, if you want a smoother transition at sudden changes of the speed reference. In torque control, check Update torque in fast loop if you want to read the analogue input at each fast loop sampling period. When unchecked, the analogue input is read at each slow loop sampling period. Select Digital if the external reference is provided as pulse & direction or quadrature encoder signals. In either case, the drive/motor performs a position control with the reference computed from the external signals. Check Set/Change gear ratio if you want to follow the external position reference with a different ratio than 1:1. Set the desired Slave / Master ratio. Remarks:
Select Online if an external device sends the reference via a communication channel. Depending on the Control Mode chosen, the external reference is saved in one of the TML variables:
If the external device starts sending the reference AFTER the external online mode is activated, it may be necessary to initialize EREFP, EREFS, EREFT or EREFV. Check Set the initial value to set the desired starting value. Remarks:
Choose Execute Immediate to activate the external reference mode immediately when the motion sequence is encountered. Choose Execute On Event to activate the external reference when a programmable event occurs. Click Change Event to select the event type or Edit Event to modify the parameters of the selected event (see Events for details). Select Setup motion data, but don’t start execution if you want to set the external reference mode parameters for a later use.
OK: Close this dialogue and save the motion sequence in your motion sequence list. Cancel: Close this dialogue without saving the motion sequence in your motion sequence list. Help: Open this help page.
See also: External –TML Programming Details External –TML Instructions and Data Internal Units and Scaling Factors
|