Elmo HARSFEN0602, HARmonica software manual 165, Dividing Ecam table into several logical portions

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.

165