Special I/O – Related TML Instructions and Data (Firmware version FAxx) |
Parameters DIGIN_ACTIVE_LEVEL Sets active levels for enable and limit switch inputs as follows:
LSACTIVE When set to a non-zero value, disables limit switch inputs capability to protect against accidental moves outside a defined working area. In this case, the limit switch inputs are treated like 2 extra general-purpose inputs CDEC Command deceleration for quick stop mode. Measured in acceleration units ICR Interrupt Control Register. The TML interrupts can be enabled or disabled by setting or resetting the corresponding bits from this register ACR Auxiliary Control Register. If ACR.1 = 1 the drive/motor is set to start automatically after power-on with an external reference. If ACR.3 = 1 there is a specific request to execute AXISON at recover from disable status. In both cases, an AXISON is executed when enable input goes from inactive to active status. Variables
APOS_LD Actual load position. Measured in position units. Alternate name: APOS APOS_MT Actual motor position. Measured in motor position units. Instructions !CAP Set event on capture inputs ENCAPI0 Enable 1st capture/encoder index input to detect a high to low transition EN2CAPI0 Enable 2nd capture/encoder index input to detect a high to low transition ENCAPI1 Enable 1st capture/encoder index input to detect a low to high transition EN2CAPI1 Enable 2nd capture/encoder index input to detect a low to high transition !LSN Set event on negative limit switch input !LSP Set event on positive limit switch input ENLSP0 Enable positive limit switch input to detect a high to low transition ENLSN0 Enable negative limit switch input to detect a high to low transition ENLSP1 Enable positive limit switch input to detect a low to high transition ENLSN1 Enable negative limit switch input to detect a low to high transition DISCAPI Disable 1st capture/encoder index input to detect transitions DIS2CAPI Disable 2nd capture/encoder index input to detect transitions DISLSP Disable positive limit switch input to detect transitions DISLSN Disable negative limit switch input to detect transitions
SRB Set/reset bits from a TML data Programming Example //Stop motion on next encoder index ENCAPI1; //Set event: When the encoder index goes low->high !CAP; STOP!;//Stop the motion when event occurs WAIT!;//Wait until the event occurs CPOS = CAPPOS; // new command position = captured position CPA; //position command is absolute MODE PP; TUM1; //set Target Update Mode 1 UPD; //execute immediate !MC; WAIT!; //wait for completion
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