Tritex 1 Installation and Setup
83
09/27/12
PN: 27666
Exlar Corporation
Rev. M
952-500-6200M
Motion Control
Motion Control Overview
There are two basic methods to control motion, via digital inputs or via direct control of position,
velocity or torque. The Digital Input method can control Jog, Move, Dedicated Move and Home
motion types. The direct method can control position, velocity or torque directly from either an
analog command or a host command. These motion control types are available in three modes
Default Mode, Alternant Mode and Host Mode. To provide additional flexibility and ease of use
Dedicated Move, Home and Jog motion types are available under certain conditions even if
Digital Inputs is not the selected move methods.
Default & Alternate Mode
Default and Alternate can each be assigned a motion type with only one type active at a time.
Digital Inputs, Analog Position, Velocity and Torque can be selected for each. Default is the
normally the active mode and Alternate Mode can be selected via an Input or via Modbus. For
example if Digital Input mode is selected as default and Analog Position is selected for
Alternate, Indexing can be performed using the Move Input functions and as soon as the
Alternate Mode Input function is active the controller will switch to Analog Position Mode.
Host Mode select
Alternate Mode Select
Active Motion
Command
Default Mode
• Digital Inputs method
•Direct Control method
• Analog Position
• Analog Velocity
• Analog Torque
Alternate Mode
• Digital Inputs method
•
Direct Control method
• Analog Position
• Analog Velocity
• Analog Torque
Special Condition Motion
Dedicated Move
Home
Jog
Host Mode
• Digital Inputs
• Direct Control method
• Analog Position
• Analog Velocity
• Analog Torque
• Host Position
• Host Velocity
• Host Current
Special
Condition
Logic
