ENLSP0 Enable positive limit switch input to detect a high to low transition |
Syntax
Binary code Firmware version FAxx Firmware version FBxx
The selection between master and load position is done as follows: load position is saved in CAPPOS2 only for the setup configurations which use different sensors for load and motor and foresee a transmission ratio between them. For all the other setup configurations, the master position is saved in CAPPOS2.
Example //Reverse when the active low positive limit switch is reached //Position feedback: 500 lines encoder (2000 counts/rev) CACC = 0.0637; //acceleration rate = 200[rad/s^2] CSPD = -16.6667; //jog speed = -500[rpm] MODE SP; UPD; //execute immediate ENLSP0;//Enable positive limit switch for high->low transitions !LSP; //Set event on positive limit switch(high->low transition) WAIT!;//Wait until the event occurs !MC; // limit switch is active -> quick stop mode active WAIT!;// wait until the motor stops because only then the new // motion commands are accepted CSPD = 40; //jog speed = 1200[rpm] MODE SP; //after quick stop set again the motion mode UPD; //execute immediate |