Encoder-Motor Position Management

Contrary to LLWin which used to provide a counter position management, Robo Pro doesn't despite the better precision brought by the encoder-motor.

Functional Description

From a functional point of view, the encoder-motor position management function should:

• be initialised with a point 0, for example a switch
  
• accept absolute position as an input
  
• save current position 
  
• manage direction of the motor, clockwise or anti-clockwise
  

I've developed such a function and used it extensively in my Magasin 9 and New Magasin models.

Usage

Initialisation sets the point zero or origin.

Going back-and-forth is possible, since the absolute position is saved.

Settings

Inside the function Axe1, you need to specify: 

• the encoder-motor and its associated fast counter, 
• the origin switch, with position = 0, 
• the name of the input and 
• the name of the saved absolute position. 

In case of having multiple axis, just duplicate Axis1 to Axis2 and update the settings listed above.

The real function is inside Position, and rather elaborate.

The full detail of the Position function is provided on the file enclosed. 

Download

Download the driver with an example for RoboPro.     

This file is under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

position.rpp.zip
File Size:	10 kb
File Type:	zip

Download File

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