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 setpointClosed Setpoint is the target value that an automatic control system, for example PID controller, will aim to reach 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

EtherCATClosed ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDOClosed PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable

CMP1.ADVANCET

4500h

01h

Unsigned32

-

-

Read/Write

No

CMP2.ADVANCET

4501h

01h

Unsigned32

-

-

Read/Write

No
EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

CMP1.ADVANCET

31580

7B5C

Unsigned32

Read/Write

-

CMP2.ADVANCET

31581

7B5D

Unsigned32

Read/Write

-
PROFINET

Parameter

PNU

Data Type

Access

Units

CMP1.ADVANCET

31580

Unsigned32

Read/Write

-

CMP2.ADVANCET

31581

Unsigned32

Read/Write

-