HARSFEN0602ElmoHARmonicaSoftwareManual

PRELIMINARYDRAFT

The initial programming of the Amplifier includes:

EM[1]=1

Enable ECAM

EM[2]=200

Length of the ECAM vector

EM[3]=0

Starting position

EM[4]=100

Conveyer encoder counts between two consecutive

 

ECAM table entries

ET[1]=…;ET[2]=…;ET[100]=

Program the numeric data of the ECAM table

…;

 

UM=5

Set single sensor position mode

RM=1

Enable external referencing

AG[3]=0;FR[3]=0;

Kill the external input

MO=1

Start motor

PA=1000;BG

Go to waiting position

HY[2]=0;HY[3]=5;HY[1]=1

Null the auxiliary encoder count upon cake arrival (RLS

 

high)

Each Amplifier has the following AUTO_RLS routine:

function AUTO_RLS /*

The RLS has operated an already programmed auxiliary homing process to synchronize the follower input

*/

 

OB[1]=1;FR[3]=1;

**Activate chocolate nozzle

 

** Enable the auxiliary encoder input with the

 

follower ratio of 1.

until (PY >= 2000)

**Wait until end of the head contour

OB[1]=0;

**Stop the chocolate

until (PY>=3000)

**Go to start of eyes

OB[1]=1;

**Restart the chocolate

until (PY>=4000)

**Draw the eyes

OB[1]=0

**Stop the chocolate

FR[3]=0;PA=1000;BG;

**Return to starting point

HY[1]=1

**Program the auxiliary encoder to reset again at the

 

next cake

return

**End of auto subroutine

12.2.2 Dividing ECAM table into several logical portions

The ECAM table can store several distinct movements. A portion of the ECAM table is used for each movement. That way a future movement can be programmed into the amplifier while the present movement is executing.

Example

In the previous "Chocolate Teddy Bear" application example, we assumed that the Teddy Bear could be programmed once.

In many food applications, the products to be worked on (the cake in the example) are not placed exactly on the conveyer, or their shape may not be regular. A camera images the next coming product, and the image is analyzed to form the next motion path.

The motion path for the analyzed image is communicated to the amplifier while the amplifier works a previously programmed path – see figure below.

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