CMP#.ADVANCET

Description

CMP#.ADVANCET specifies a time adjustment in msec to be applied to the compare channel calculation. It allows an application to compensate for output devices, such as relays, that require a significant time to complete a mechanical operation. CMP#.ADVANCET may be changed while the compare channel is running and setpoints are armed.

Examples

Usage

Consider an application where we wish to close a relay when the channel 1 feedback source reaches 180 deg, and where the relay takes 10 ms to close. We set CMP1.STARTVAL for setpoint 1 to 180 deg and CMP1.ADVANCET to 10 ms. Suppose the feedback is spinning at 1 revolution / second. The compare channel compensates for the mechanical delay by driving its output when the source position is (180 deg – 360 deg / sec x 0.010 sec) = 176.4 deg.

Code

The following commands set the channel 1 advance to 10 msec, as described above. 

--> CMP1.STARTVAL 1 180
--> CMP1.ADVANCET 10

Context

For more information please refer to Compare Engines View.

Versions

Action Version Notes
Implemented 02-06-00-000  

General Information

Type

Read/Write

Units

ms

Range

0->30 ms

Default Value

0

Data Type

Float

See Also

 

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

CMP1.ADVANCET

4500h

01h

Unsigned32

-

-

Read/Write

No

CMP2.ADVANCET

4501h

01h

Unsigned32

-

-

Read/Write

No
EtherNet/IP

ID

Instance

Attribute

Name

Data Type

Access

User Mappable

31580

1

31580 (0x7b5c)

CMP1.ADVANCET

Unsigned32

Read/Write

Yes

31581

1

31581 (0x7b5d)

CMP2.ADVANCET

Unsigned32

Read/Write

Yes
PROFINET

Parameter

PNU

Data Type

Access

Units

CMP1.ADVANCET

31580

Unsigned32

Read/Write

-

CMP2.ADVANCET

31581

Unsigned32

Read/Write

-