Advantech ADAM-5240, User Manual

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17 Chapter 2
2.6 Deceleration/Instantaneous Stop Switch Input
There are three input signals (nIN1, nIN2, nIN3) can make the motor
drives deceleration or stop. Each axis has four inputs IN3 ~ IN0, wherein
IN0 is used in phase Z interface of encoder feedback, and nIN1, nIN2,
and nIN3 are use as input signals near the original point. If run mode is
active, the output of driving pulse is terminated after those signals are
enabled; The deceleration occurs during acceleration/deceleration, and it
will be stopped immediately during constant drive. All the signals
become invalid after reset. For example, when setting the D7 and D6 of
XWR1 register to 1 and 0 (IN3 is low active), the drive will be terminated
in the case of the limit switch is on and xIN3 is low. Furthermore, these
input signals can be used as general purposed input because user can get
the level by reading the input register status (RR4, RR5)
Figure 2.8: Deceleration/Instantaneous Stop Input
The response time of this circuit should take about 0.25 msec because of
the delay of photo coupled and RC filter.
Note: When the axis/axes is/are about to stop (in the decelera-
tion stage), the axis/axes will not stop totally but keep
moving at a very low speed if you use S-curve accelera-
tion/deceleration to control speed under the “
Point to
Point ” and “ Line Profile(interpolation) ” drive mode
(positioning operation, specify a target position) on the
conditions below:
The hardware limit is activated and the
Limited Switch
Operation Mode is set to “ Slow Down then Stop ” (WR2/
D2=1).
The software limit is enabled and activated (WR3/D, 1=1).
The
Limited Switch Function of IN1 and IN2 are
enabled (WR1/D5, 3, 1=1).