Compare Engines View

The AKD2G Compare Engines provides a fast, accurate, and flexible mechanism for indicating the state of positions and other values through digital outputs. The AKD2G supports several independent compare engines (CMP1, CMP2).

Source
Sampled value
Phase Advance
Modulo switch
Modulo configuration
Sampled value after modulo
Link to detailed configuration
Output

About Compare Channels

Compare channels provides the ability to quickly set digital outputs based on feedback positions, timers, and other signals that have values of interest. Compare channels operate at sub-microsecond hardware execution rates, allowing them to detect when changing signals cross specific values, and to control digital outputs, with high precision.

In addition to speed and precision, compare channels provide a number of benefits:

Up to 8 setpoint Setpoint is the target value that an automatic control system, for example PID controller, will aim to reach comparisons can be configured for each channel, allowing detection and digital output switching in multiple position ranges.
Channels can be set up for detection of raw feedback device A process whereby some proportion of the output signal of a system is passed (fed back) to the input. In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position values, in addition to scaled axis position feedbacks.
Setpoints can be configured to detect directional position changes, or changes in either direction.
Digital outputs can be switched on for a specified time duration, or for a value range.
Channels can be set up to work on modulo values, allowing for cyclically repeating outputs, and avoiding the need to configure position modulo in firmware.
Each channel can drive an arbitrary number of digital outputs, which can be either DOUT pins or bidirectional DIO pins configured as outputs.
Advance compensation can be used to correct for delays in mechanical components that are controlled by digital outputs.

Reference

Compare Engines Overview

Element	Description	Command
Compare Engine Source	The sampled value of the compare channel source.	CMP#.SOURCEVAL
Phase Advance	Set a time value to account for compensate for slow output devices such as relays or mechanical devices. The value of this parameter determines how long in advance the compare engine will trigger to compensate for a slow output.	CMP#.ADVANCET
Modulo	Clicking on the switch enables or disables Modulo. A modulo range may be added to the compare engine. Set beginning and ending range values. The sampled value after modulo is displayed (CMP#.VAL).	CMP#.MODEN, CMP#.MODVAL1, CMP#.MODVAL2
Link to configuration	Clicking this item will open the specific Compare Engine configuration.	n/a
Output for compare result	Click the Plus button to add and configure the Digital Output. More than one output may be defined. Click the Minus button to remove the output. Clicking on the name of an output opens the associated view.	DOUTx or DIOx

Configure Digital Output

This window is opened when the Plus button is clicked in the Compare Engines view, enabling you to define the output type and the specific output.

Element	Description	Command
Choose Output Type	Select Output to use DOUT or Bidirectional to use DIO.	n/a
Choose Digital Output	Select an available ID	n/a
Source	Displays the source based on the output selected.	DOUT#.SOURCE or DIO#.SOURCE
Source ID	Displays the source based on the output selected.	DOUT#.SOURCEID or DIO#.SOURCEID
Configure Digital Output Direction	Shown when using a Bidirectional output type.	DIO#.DIR

Configure Compare Engine #

Each compare engine may be set with up to eight comparator properties which get fed into the output. The view for each engine shows the

Current position with modulo
Comparison value
Pulse When the step gets activated, the action is activated for a single execution, and possibly once again when the step is deactivated width
Edit comparator properties

Element		Description	Command
Edit Comparator Properties		Clicking this button shows the Comparator Configuration. The graphic displays the Mode at the top with Single Shot (), or Continuous (), or Continuous with armed setpoint () and the Direction at the bottom with Increasing Velocity (), Decreasing Velocity () or Both ().
Comparator Configuration	Mode	Sets the automatic rearming behavior for the setpoint. It determines whether CMP#.ARM resets to: 0 - Disable rearming after a compare event 1 - Enable continuous rearming 2 - Enable continuous autoarrm (continuous rearming plus arming of the setpoint on startup)	CMP#.REARM
	Direction	Sets the direction the source value must change through the setpoint start value in order to satisfy the comparison and set the digital output.	CMP#.DIR
	Setpoint Setpoint is the target value that an automatic control system, for example PID controller, will aim to reach	Specifies the starting value for the setpoint.	CMP#.STARTVAL
	Pulse Type	Set the width-type for a Compare setpoint. The width-type determines whether the width of the Compare pulse is in position counts or units of time (milliseconds).	CMP#.WIDTHTYPE
	Pulse Width	This field sets the duration of the output pulse generated by the setpoint. It is specified as a time duration or as a value (position) width, depending on the Pulse Type setting: Pulse Type = 0 - Source: The pulse remains active until the Compare Engine Source value changes by Pulse Width. The units of Pulse Width are the same as those of the Compare Engine Source. Pulse Type = 1 - Time: The pulse remains active for the time duration specified by Pulse Width.	CMP#.WIDTHVAL or CMP#.WIDTHT
	Arm State	Arm or disarm a Compare setpoint. The setpoint value will only be compared against the Compare source if that setpoint is armed. If they match, an output pulse will be generated.	CMP#.ARM
Arm All		Clicking this button readies all of the configured compartors	n/a
Output for compare result		Click the Plus button to add and configure the Digital Output. More than one output may be defined. Click the Minus button to remove the output. Clicking on the name of an output opens the associated view.	DOUTx or DIOx