Emerson EZMotion User Manual page 179

(FollowerPosn). The cam points are all relative to the start of the Cam table. On Cam.Resume the current physical position
becomes the cam start point and the cam aligns it's resume position to the current physical position without any physical
movement. This means if you suspend a cam and move the physical position; for example with a Jog, you will need to position
the motor back to the desired position before resuming.
Cam.Suspend
When Cam.Suspend is activated the current cam will stop using the Cam.Decel ramp rate (if Cam.DecelEnable is enabled).
The cam will accept a Cam.Resume after a suspend. The suspend records the master and follower positions at the point of
the suspend for future Cam.Resume execution.
Cam.Stop
When Cam.Stop is activated the cam will stop using the Cam.Decel ramp rate (if Cam.DecelEnable is enabled).
Gear.Stop
Gear Stop will stop gearing motion that has been initiated from a program.
Example:
Gear.Initiate
Wait for EZInput.2=ON
Gear.Stop
Gear.Initiate
Gear Initiate will initiate gearing from a program. Gearing will remain active until the Gear.Stop command is used.
Example:
Gear.Initiate
Wait for EZInput.2=ON
Gear.Stop
This instruction should not be used within a loop in the user program. If the Gear.Initiate instruction is processed while gearing
is active, the program will hang on this instruction.
Home.Initiate
This program instruction is used to initiate the home.
A comment is automatically inserted after the Home.Initiate instruction that shows key data about the particular home. The
comment starts with the apostrophe ' character. A "Wait For Home.AnyCommandComplete" instruction is not required
because the home is actually a program which already has a "Wait For" instruction.
Index.Initiate
This program instruction is used to initiate a single index. The index is preset to include an acceleration up to speed, a run at
speed and a deceleration to a stop.
A comment is automatically inserted after the index instruction which shows key data about the particular index. The comment
starts with the apostrophe 'character.
A Wait For Index.AnyCommandComplete instruction is also automatically inserted after each index. This insures that the index
has completed before the program continues on to the next line of code. It is also possible make the program wait until the
index is complete and the following error is less than a specified amount. This is accomplished by changing the Wait For
Index.AnyCommandComplete instruction to Wait For InPosn. The In Position Window is configured in the Position view.
Example:
Index.0.Initiate
Wait For Index.AnyCommandComplete
Example:
Index.37.Initiate
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 that shows key data about the particular index. The comment
starts with the apostrophe ' character.
EZMotion User/Programming Guide
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