Special I/O - Related TML Instructions and Data

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:

•	Enable input (#16/ENABLE) – bit 15: 0 – low, 1 – high

•	Limit switch input for negative direction (#24/LSN) - on bit 14: 0 – low, 1 – high

•	Limit switch input for positive direction (#2/LSP) - on bit 13: 0 – low, 1 – high

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

CAPPOS

Position captured when programmed transition occurs on 1st capture/encoder index input. Measured in motor position units, except the case of stepper motors, when it is measured in position units

CAPPOS2

Position captured when programmed transition occurs on 2nd capture/encoder index input. Measured in position units when load position is captured, or in master position units when master position is captured

APOS2

Master position computed by the slaves from pulse & direction or quadrature encoder inputs. Measured in master position units

TPOS	Target position – position reference computed by the reference generator at each slow loop sampling period. Measured in position units

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

UPD!	Update the motion mode and/or the motion parameters when the programmed event occurs

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the programmed event occurs

WAIT! value16

Wait until the programmed event occurs. If the command is followed by value16, the wait ends after the time interval specified in this 16-bit integer value. Value16 is measured in time units

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