Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 421)

Application Examples • Lane Diverter 399
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
This is the number of auxiliary encoder pulses/unit. The Scale2 parameter determines the units of speed
for G6 (minimum velocity) as well as the units of distance for G7 (debounce distance).
Timebase
This parameter determines if the G6 (minimum velocity) speed is in units/minute or units/second.
Accel
This parameter determines the acceleration and deceleration rates used to move to a new position. See
Part 5 • Language Reference for more details.
Program Parameters
There are eight parameters that need to be set by the programmer. These specify details about the partic-
ular machine being controlled.
G1: range1 andG2: range2
Since there are three destination belts, there are three size ranges. The three size ranges are: i) 0 to
range1; ii) greater than range1 to range2, iii) greater range2.
G3: gate_pos1, G4: gate_pos2 and G5: gate_pos3
The three size ranges are given three gate destinations, for example, gate_pos1 is the destination for
packages that are sorted into the smallest range, etc.
G6: min_vel
Since for very slow operation, it is desirable to have the gate move at some minimum speed so that the
operation of the gate can be observed, this program implements a minimum web velocity. This is the
slowest speed the web will be seen as moving, so that even if the web is stopped, the move will continue
as if the web were going this speed.
G7: deb_dist
This is the debounce distance, the distance a package must go before looking for a trailing edge. The
input sensor will turn on at the leading edge of a package and since this is an edge, the signal may be
unstable at this point. For this reason the program requires a certain minimum distance to go by before
allowing any OFF transition to be read as a trailing edge of a package.
G8: gate_length
This is the distance from input sensor (in_sense) to the back of the gate. The difference between this
number and the longest package length will be the shortest duration move in terms of web distance.
Program Description
This program consists of two parts: the scanned events and the main program. The scanned events are
used to measure packages moving by the input sensor. When a package has been measured, this infor-
mation is made available to the main program. The scanned events also track the speed of the web and
set the feedrate accordingly.
The main program waits for a package to be sensed and measured. Once the package is sensed, the mea-
surement is sorted using G1 and G2 (range1 and range2) and the correct destination is chosen. The
velocity to move to this destination is calculated based on the web speed and the distance from the lead-
ing edge of the package to the back of the gate. The move is done and the main program waits for the
next package to be sensed and measured.