Changes made for Pathfinder 5226 controllers.

Indra Drives have a tolerance parameter that is used by the drive for positioning. The drive won't say the move is done and report back to the controller until within this tolerance. Pathfinder also has a tolerance parameter which is what the 5226 uses to set the tolerance on the drive. Before the 5226 sends the tolerance though it needs to be adjusted for how the drive interprets counts and position. A bug came from this in which originally the controller was taking the Pathfinder parameter and getting a count value from the calibration table. This is wrong since it is just getting a raw value that lines up with the position in the table and not the resolution of the drive. This bug essentially made the drive think its tolerance was zero and caused big pauses in machine time because the drive was having a hard time getting the axis exactly on target.

The solution was to calculate the correct tolerance for the drive to make positioning easier. A limit was also created to make sure the drive is never sent a tolerance lower than 0.001".

Changes made for Pathfinder 5226 controllers.

Idle Command Value was created to help with valve leakage and Idle Delay Timer was added for a time delay before turning on the Idle Command Value. For more information refer to:

SCN 4346 - 5226; Added an Idle Output and Idle Output Delay Feature

It was found that the valves were not acting the same from axis to axis and the set in stone delay time was not enough for some of the valves. To have more control of the delay time the Idle Delay Timer generic parameter was created. This allows the user to have control of how many milliseconds the controller will wait before turning on the Idle Command Value.

Changes made for Pathfinder 5226 controllers.

On most double folder machines the backgauge will have grippers attached which are used to handle the material. Sometimes when the grippers are open and the clamp is low they can collide with each other. To make sure this doesn't happen the Gripper Clearance Height and Gripper Collision Crisis parameters were created.

The parameters work together to make sure the clamp is high enough to make sure the grippers do not run into the clamp. If the backgauge is going to be moving into the Gripper Collision Crisis area then the clamp will move to the Gripper Clearance Height instead of the operation step height. The Gripper Clearance Height needs to be set to a high enough height for this to work correctly.

Changes made for Pathfinder 5226 controllers.

If the backgauge or the backgauge finger is within a certain distance from the zero point it can run into the clamp if the clamp is not high enough. The controller is supposed to use Clamp Collision Crisis Distance and Backgauge Collision Crisis Distance to handle this situation. If the backgauge is moving into the Clamp Collision Crisis Distance area then the clamp needs to move to the Backgauge Collision Crisis Distance instead of the operation step height. The problem was that the controller was not looking at the target based on whether the backgauge finger was up or not. This causes the clamp to not use the collision height when the fingers are up causing crashes.

The solution to this problem was to look at whether the finger is up or not. If the finger is going to be used then check if the backgauge target - the finger offset distance is going to be in the collision area and adjust clamp height accordingly.