NPM PCL6113, User Manual

Page: 83 / 131

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11-4. Mechanical external input control
11-4-1. +EL, -EL signal
When an end limit signal (a +EL signal when feeding in the + direction) in the feed direction turns ON
while operating, the axis will stop immediately or decelerate and stop. After stopping, even if the EL
signal is turned OFF, the axis will remain stopped. For safety, keep the EL signal ON until the axis
reaches the end of the stroke.
If the EL signal is ON when writing a start command, the axis cannot start moving in the direction of the
particular EL signal that is ON.
By setting ELM in the RENV1 (environment setting 1) register, the stopping pattern for use when the EL
signal is turned ON can be set to immediate stop or deceleration stop (high speed start only).
The minimum pulse width of the EL signal is 2 cycles of reference clock cycles (0.4
µ
s) when the input
filter is OFF.
When the input filter is OFF the minimum pulse time for the EL signal is two reference clock cycles (0.1
µ
s). When the input filter is ON, the PCL will not respond to pulse signals shorter than the specified time.
By reading the SSTSW (sub status), you can monitor the EL signal.
By reading the REST register, you can check for an error interrupt caused by the EL signal turning ON.
When in the timer mode, this signal is ignored. Even in this case, the EL signal can be monitored by
reading SSTSW (sub status).
The input logic of the EL signal can be set for each axis using the ELL input terminal.
Set the input logic of the EL signal <ELL input terminal>
L: Positive logic input
H: Negative logic input
Stop method to when the EL signal turns ON <Set ELM (bit 3) in RENV1>
0: Immediate stop by turning ON the EL signal
1: Deceleration stop by turning ON the EL signal
[RENV1] (WRITE)
7 0
- - - - n - - -
Setting the ±EL input filter <Set FLTR (bit 26) in RENV1>
1: Inset filters to EL, SD, ORG, ALM, and INP inputs.
When the filter is inserted, pulses shorter than the FTM set value are ignored.
[RENV1] (WRITE)
31 24
- - - - - n - -
Select the input filter characteristics <Set FTM (bits 20, 21) in RENV1>
00: 3.2
µ
s 10: 200
µ
s
01: 25
µ
s 11: 1.6 ms
[RENV1] (WRITE)
23 16
- - n n - - - -
Reading the EL signal <SPEL (bit 12), SMEL (bit 13) in SSTSW>
SPEL = 0:Turn OFF the +EL signal SPEL = 1: Turn ON the +EL signal
SMEL = 0:Turn OFF the -EL signal SMEL = 1: Turn ON the -EL signal
[SSTSW] (READ)
15 8
- - n n - - - -
Reading the stop cause when the EL signal turns on <ESPL (bit 0), ESML (bit 1)
in REST>
ESPL = 1: Stop by turning ON the +EL signal
ESML = 1: Stop by turning ON the -EL signal
[REST] (READ)
7 0
- - - - - - n n
11-4-2. SD signal
If the SD signal input is disabled by setting MSDE in the PRMD register (operation mode), the SD signal
will be ignored.
If the SD signal is enabled and the SD signal is turned ON while in operation, the axis will: 1) decelerate,
2) latch and decelerate, 3) decelerate and stop, or 4) latch and perform a deceleration stop, according to
the setting of SDM and SDLT in the RENV1 register (environment setting 1).
1) Deceleration < SDM (bit 4) = 0, SDLT (bit 5) = 0 in RENV1 register>
-While feeding at low speed, the SD signal is ignored. While in high speed operation the axis
decelerates to the FL speed when the SD signal is turned ON. After decelerating, or while
decelerating, if the SD signal turns OFF, the axis will accelerate to the FH speed.
- If the SD signal is turned ON when the high speed command is written, the axis will operate at FL
speed. When the SD signal is turned OFF, the axis will accelerate to FH speed.