Emerson FM-3 manual Index.CompoundInitiate, Complex Velocity Profile

Programming

the following error is less than a specified amount. This is accomplished by changing the “Wait For Index.AnyCommandComplete” to “Wait For InPosn”. The In Position Window is configured in the Position view.

Examples:

Index.0.Initiate			‘Incremental,Dist=5.000in,Vel=2.0in/s
Wait	For	Index.AnyCommandComplete
Index.37.Initiate			‘Absolute,Posn=120.60mm,Vel=50.2mm/s
Wait	For	InPosn

Index.CompoundInitiate

This program instruction is used to initiate an index which has no deceleration ramp. The index accelerates or decelerates towards the next index velocity using the next index acceleration ramp. The index will finish at velocity. The program then moves on to the next index. It smoothly transitions into the second index without stopping. The second index then ramps to its pre-configured velocity. Multiple indexes can be “compounded” to create a complex velocity profile. The last index in a complex profile must have a deceleration ramp. This is accomplished using a standard Index.Initiate rather than a Index.CompoundInitiate. The final index will honor the deceleration ramp. If the last index is not long enough to perform a decel ramp at the programmed rate, the motor will backup at the end of the last index.

Each index can be used in multiple places as both a standard index with a deceleration ramp, and a compound index without a deceleration ramp. The program instruction (Index.0.Initiate or Index.0.CompoundInitiate), not the index itself, determines whether or not the index will execute a deceleration ramp. For example, Index.0 can be used multiple times in multiple programs. It can be initiated at different times using the Index.0.Initiate instruction and the Index.0.CompoundInitiate instruction.

A comment is automatically inserted after the index instruction which shows key data about the particular index. The comment starts with the apostrophe ‘ character.

Examples:

Complex Velocity Profile
Velocity
Index 0	Index 1	Index 2
		Time

127