Elmo HARmonica, HARSFEN0602 software manual 164

HARSFEN0602ElmoHARmonicaSoftwareManual	PRELIMINARYDRAFT
	is equivalent to 1000 counts
EM[5]=1	First index of the table
ET[1]=1000	ECAM table values
ET[2]=2000
ET[3]=1000
ET[4]=2000
EM[1]=1	Activate ECAM.

-For every input voltage less than 1v, the external position command will be 1000.

-For input voltage of 1.5v the external position command will be 1500.

-For input voltage of 2.75v the external position command will be 1250.

-For every input voltage greater than 4v, the external position command will be 2000.

Example:

Consider an application, in which a two-axis x-y servo system is used to plot chocolate teddy bears on birthday cakes.

Eyes

Head contour

Cake moves

164

The cakes come from the oven on a conveyer. An incremental encoder measures the place of the conveyer. Each time a new cake arrives, it operates an optical switch, which sets the RLS input of the amplifier. In response to the RLS, the x-y axes begin to contour the head of the teddy bear, drawing it with chocolate. Then the chocolate flow is stopped for a while, while the x-y axis travel toward starting the eyes of the teddy bear. After drawing eyes to the bear, the x-y stage returns to initial position, to be ready for another cake.

Both the Amplifiers that manage the x and the y-axes work in the ECAM mode. They get their position reference as a function of the location of the conveyor, via the auxiliary encoder input. The ECAM motion starts when a cake arrives at the plotting station. It continues until the conveyor had traveled 4000 counts.

One of the Amplifiers controls, by a digital output, the flow of the chocolate out of the drawing nozzle.