ElmoMC SimplIQ Software Manual - Manual (Page 175)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-34
Example 1:
The following figure illustrates the behavior of linear ECAM for EM[5]=1 and EM[2]=4.
E
x
te
rna
l pos
it
ion c
om
m
and
ECAM table input
0
EM [4]
ET[3]
EM[4]-EM[7]
ET[1]
ET[2]
ET[4]
EM[4]
IETm ax
Figure 11-15: Linear ECAM
Example 2:
Consider an application in which a two-axis x-y servo system is used to plot chocolate
bears on birthday cakes:
Head contour
Eyes
Cake
moves
The cakes come from the oven on a conveyor. An incremental encoder measures the
position of the conveyor. Each time a new cake arrives, it activates the DIN#1 input of the
drive. In response to DIN#1, the x-y axes begin to contour the head of the bear, drawing
it with chocolate. The chocolate flow is stopped while the x-y axis travels towards the
start of the bear eyes. After the eyes are drawn, the x-y stage returns to its initial position,
ready for another cake.
Both drives that manage the x and y axes operate in 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 and continues until
the conveyor travels 4000 counts.