Elmo HARmonica, HARSFEN0602 software manual 168, Stop management 12.3.1General description

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

The software command to the roller is set as point to point, to correct the roller position for the next arriving box.

That way the printing is synchronized to the box.

168

Sensor

Auxiliary home

Feedback encoder input

Amplifier
Auxiliary
encoder	Motor
input

Painting roller

Next box box

Conveyer speed encoder

Figure 31: Print On A Moving Box Application

At the time of auxiliary homing (when a new box arrives at the sensor), the external reference jumps by PY*FR[3]. The software command to the roller jumps in parallel by –PY*FR[3], so that the roller continues to move normally.

Programming the ##AUTO_HM routine as

function AUTO_HM() PA=0;BG;

return

Will position the roller phased correctly with respect to the next coming box.

12.3 The Stop management

12.3.1General description

The "Stop Manager" block has the following functions:

Stop the motion upon sensing a "Stop" switch, or upon sensing a limit switch (RLS

•or FLS).

Protect against discontinuity it the controller's command. A discontinuity can occur due to:

o A switch stops the motion abruptly.

o An application error (An absolute motion mode like PVT is started with bad initial conditions, or PVT generates position command out of the modulo range of the feedback sensor)

Limit the magnitude of the controller's command to the maximum allowed range.

•This is necessary since even if the software command is generated within the permitted limits, and the external command is within the permitted limits also, their some may be out of the permitted limits.

The Stop Manager prevents the position reference generator from driving the motor to undesired places. The stop manager does not affect the reference generator.

While this feature enable