Newport ESP300 Series, User Manual

Page: 228 / 314

4.4.3 Using DIO to Inhibit Motion
ESP series of motion controllers can inhibit the motion of any axis in
response to external events. In order to accomplish this task, users
must define the DIO bit to be employed to inhibit the motion of a
desired axis and the logic state in which that bit should be in order to
inhibit motion. Once this done, the feature has to be enabled.
Furthermore, the direction of the DIO port this DIO bit belongs to
must be set to "input" in order for the controller to detect the external
event.
At this point, if the selected axis is already in motion, and DIO bit is
asserted, E-stop is executed per E-stop configuration (Refer "
ZE "
command for further details). If the axis is not moving, any new move
commands are refused as long as the DIO bit is asserted. In either
case, "AXIS-XX DIGITAL I/O INTERLOCK DETECTED" error is
generated, where XX is the axis whose motion is inhibited through
DIO. Please review the example below for further clarifications.
Example 3:
2BK1,1 | Use DIO bit #1 to inhibit motion of axis #2. This DIO bit
| should be HIGH when axis #2 motion is inhibited
2BL1 | Enable inhibition of motion using DIO bits for axis #2
BO 04H | 04H = (0100)Binary
| Set DIO ports A,B to input and port C to output
| i.e., set bits 0 – 15 to input and 16 – 23 to output
After the above commands are sent to the controller, the controller
will inhibit the motion of axis #2 when DIO bit is at a HIGH logical
level, and generate appropriate error message.
4.4.4 Using DIO to Monitor Motion Status
User's applications can monitor motion status – desired axis is in
motion or standstill – through ESP motion controller's DIO. This
status bit can in turn be used to drive external processes such as
turning on/off a mechanical brake, for instance. In order to
accomplish this task, users must define the DIO bit to be employed to
monitor the motion status of a desired axis and the logic state in
which that bit should be in when the axis is not in motion. Once this is
done, the feature has to be enabled. Furthermore, the direction of the
DIO port this DIO bit belongs to must be set to "output" in order for
the controller to report the motion status.
At this point, if the selected axis is not in motion, the DIO bit changes
its state to the level specified as described earlier. Please review the
example below for further clarifications.
4-14 Section 4 – Advanced Capabilities