X20 system modules • Digital signal processing modules • X20CM1201
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X20 system User's Manual 3.10
4.16.2.10.3 General
This is a low-end positioning module that supports 2 speed movements in positive and negative directions. No
active position check is performed. The movements are started using a command interface and stopped by the
position comparator (target position) or user-defined trigger conditions (input edge/ comparison). Every movement
step is time-monitored. Up to 8 movement steps can be linked to form one continuous movement.
Position, input states and timeout periods are checked during each system cycle.
4.16.2.10.3.1 Types of movement
The module supports the following types of movement:
•
Negative direction - fast
•
Negative direction - slow
•
Stop
•
Positive direction - slow
•
Positive direction - fast
The initial state of each type of movement is defined by the user. In order to avoid false input levels on the motor
(caused by signal runtimes), and ensure timing (e.g. during direction change), there are additional command pa-
rameters to describe a operating mode change:
•
0x93 Negative directional setup state
•
0x88 Negative directional setup time
•
0x8A Negative directional stop time
•
0x95 Positive direction setup state
•
0x89 Positive direction setup time
•
0x8B Positive direction stop time
•
0x94 Stop state
Information:
No directional stop state is defined. To allow error handling, the directional stop state must be the
same as STOP. Speed changes in the same direction of movement are not evaluated as changes in the
operating mode of the movement.
4.16.2.10.3.2 Movement blocks
The module supports 4 movement blocks: Each movement block contains up to 8 movement steps. Each step is
comprised of the following parameters:
•
Target position - relative or absolute
•
Timeout or delay
•
Trigger condition - edge or comparator value (signal level)
A block's movement steps can be executed as one continuous movement. The following parameters must be
configured before the movement start command is issued:
•
Step activation
•
Step target position interpolation - relative or absolute
•
Step speed - slow or fast
•
Trigger mode - off or "Comparator value = true" or "Comparator value = false"
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