AOI_RotKnife_PosComp_VelLimit_P5_V1 3AOIAOI_RotKnife_PosComp_VelLimit_P5_EN

Haiqiang XUUser Manual | AOI_RotKnife_PosComp_VelLimit_P5AOI_RotKnife_PosComp_VelLimit_P5Description: This AOI (Add-On-Instruction) will generate a 5th Order Polynomial motion profile to position compensate unsynchronized motion segment from a given master distance and slave distance. This AOI is particularly designed for rotary knife application. The usage limitation is that the start_vel must be equal to the end_vel. Example 1, the AOI generator a motion profile which meet the restrictions of master distance(means the film length) = 330, slave distance(means the blade distance) = 240, start_end_vel(means the synchronized velocity) = 1.0 and start_end_acceleration = 0. This is usually used with a line sync segment. Example 2, the AOI generator a motion profile which meet the restrictions of master distance(means the film length) = 330, slave distance(means the blade distance) = 500, start_end_vel(means the synchronized velocity) = 1 , start_acceleration = 0.018042104 and end_acceleration = -0.018042104. This is usually used with an arcos sync segment.Par_CamPoints: User can define the campoints of the cam profile. However, user should take following guides in consideration.o More than 200 would cause the dynamic issue, it could also be seen from the jerk curve. It is come from the 32Bit data resolution of Master and Slave values in data type of CAM. o 30 points would be perfect for most application.o 20 to 100 campoints would be acceptable. If user input the Par_CamPoints outside of this range, the AOI will change it to 30.In addition to basic functions, this AOI also contains the following additional features that may be used in practical applications: Par_Low_Vel_Limit, user can limit the minimal slave velocity. This will take advantage in following situation:o The film length is much greater than blade distance. Rotary knife backward movement issue occurs.o Cut on print mark, but the detected print mark distance is too small. Rotary knife backward movement issue occurs. o Example 1, master distance (means the film length) = 800, slave distance(means the blade distance) = 330, the min. slave velocity will be -0.1, backward movement issue occurs. User can avoid the backward movement even the film length is still great by input Par_Low_Vel_Limit = 0 and Par_VelLimitMode = 1 or 3 In the application of Poly5 position comp, the critical non reversal distance ratio is 2.14 15/7. o Example 2, master distance (means the film length) = 300, slave distance(means the blade distance) = 280, start_end_vel(means the synchronized velocity) = 1.9757438 , start_acceleration = 0.018042104 and end_acceleration = -0.018042104. The min. slave velocity will be -0.317068, backward movement issue occurs. User can avoid the backward movement even the film length is still great by input Par_Low_Vel_Limit = 0 and Par_VelLimitMode = 1 or 3 Par_High_Vel_Limit, user can limit the maximum slave velocity. This will take advantage in dealing with the rotary knife motor over speed issue when:o The film length is much smaller than blade distance. o The packaging machine run faster. o Changing the 5_knives seat into the 3_knives seat, while no change on other aspects such as mechanical reduction ratio, machine speed and product length.o Mechanical reduction ratio is relatively large.o Example 1, master distance (means the film length) = 60, slave distance(means the blade distance) = 330, the max. slave velocity will be 9.45. User can avoid the over speed issue even the film length is still small by input Par_High_Vel_Limit = 7 and Par_VelLimitMode = 2 or 3. o Example 2, master distance(means the film length) = 134.63771, slave distance(means the blade distance) = 330.32938, start_end_vel(means the synchronized velocity) = 1.9757438 , start_acceleration = 0.018042104 and end_acceleration = -0.018042104. The max. slave velocity will be 2.71912. User can avoid the over speed issue even the film length is still small by input Par_High_Vel_Limit = 2.5 and Par_VelLimitMode = 2 or 3.Dependent UDTs: Cam_P- contains the calculated CAM_PROFILE array, and the data type is CAM_PROFILE102 .Cam - contains the calculated CAM array, and the data type is CAM500. If user want to combine the cam profile with other cam profiles, user may need to change the CAM array size accordingly.Ladder Instruction:Function Block Instruction:Structured Text Instruction:AOI_RotKnife_PosComp_VelLimit_P5(AOI_RotKnife_PosComp_VelLimit_P5,Cam,Cam_P,Par_CamPoints,Par_Master_Distance,Par_Slave_Distance,Par_Start_End_Vel,Par_Low_Vel_Limit,Par_High_Vel_Limit,Par_VelLimitMode,In_Master_Offset_Start,In_Slave_Offset_Start,In_Cam_index_Start,Out_Master_Offset_End,Out_Slave_Offset_End,Out_Cam_index_End,Out_ErrorCode);Parameters:NameData TypeReq?UsageUnitsAcceptable ValuesDescriptionCamSegment_AOI_RotKnife_PosComp_VelLimit_P5YInOutThis is the AOI control tag. where xxx represents the sub_number of the whole cam profile.CamCAM500YInOutContains the calculated CAM array, and the data type is CAM500. Cam_PCAM_PROFILE102YInOutContains the calculated CAM_PROFILE array, and the data type is CAM_PROFILE102 .Par_CamPointsDINTYInOut20 to 100campoints of the cam profile. If user input the Par_CamPoints outside of the acceptable range(20 to 100), the AOI will change it to 30.Par_Master_DistanceREALYInput 0Scales the total distance covered by the master axis through the CAM profile. Par_Slave_DistanceREALYInput 0Scales the total distance covered by the slave axis through the CAM profile. Par_Start_VelREALYInOutThe absolute value of the initial slope of the cam profile. If user input this parameter with a negative value, the AOI will change it to the absolute value of itself.Par_End_VelREALYInOutThe absolute value of the final slope of the cam profile. If user input this parameter with a negative value, the AOI will change it to the absolute value of itself. It must be equal to the Par_Start_Vel.Par_Start_AccelerationREALYInOutThe initial acceleration of the cam profilePar_End_ AccelerationREALYInOutThe final acceleration of the cam profilePar_Low_Vel_LimitREALYInOutThe absolute value of the low slope limit through the whole cam profile.If user input this parameter with a negative value, the AOI will change it to the absolute value of itself.Par_High_Vel_LimitREALYInOutThe absolute value of the high slope limit through the whole cam profile.If user input this parameter with a negative value, the AOI will change it to the absolute value of itself.Par_VelLimitModeDINTYInputVelocity limit mode0: No Limit1:LowLimit2:HighLimit3:High_Low_LimitIn_Master_Offset_StartREALYInputThe initial master position of the cam profile.In_Slave_Offset_StartREALYInputThe initial slave position of the cam profile.In_Cam_index_StartDINTYInputThe initial cam index of the cam profile.Out_Master_Offset_EndREALYOutputThe final master position of the cam profile.Out_Slave_Offset_EndREALYOutputThe final slave position of the cam profile.Out_Cam_index_EndDINTYOutputThe final cam index of the cam profile.Out_ErrorCodeDINTYOutputIndicate the parameter error or the calculating error within this AOI.UDT_CAMTo adjust the size of the profile for combining the cam profile with other cam profiles if necessary. Typical Instruction UseThis instruction is usually used with AOI_Linear OR AOI_ArcCos which are used to calculate the synchronized segment. User need to copy