Examples and tips
PROGRAMMING MANUAL
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Example: We have a Sigma-II and a Junma driver assigned to controller
axes 0 and 3. For the Sigma-II driver, we want to use input signal EXT1
(mapped to CN1-44 if Pn511.2 is set to 4) to serve as reverse limit input for
axis 0. For the Junma driver, we want to use input signal EXT1 (CN1-2) as
reverse limit for axis 3. We can do this with these commands:
REV_IN AXIS(0) = 22
REV_IN AXIS(3) = 22
Note that even though
REV_IN
parameters for both axes have the same
value, the real inputs used are not the same. For axis 0 the input on CN1-44
of the Sigma-II driver (assigned to axis 0) is used, but for axis 3 the input on
CN1-41 of the Junma driver (assigned to axis 3) is used. Therefore we say
that those inputs are accessed per axis, they are not unique for the whole
controller. In general, these two inputs have a different status at the same
time. Also note that neither of these two inputs can be accessed using the
command
IN
. For example the command
IN(22)
returns the status of
controller software input 22 (unique for all axes), which has a different status
than Servo Driver inputs mapped to the same number. However, the
command
INVERT_IN(22)
inverts the status of input 22 read by the
controller. It affects not only the unique software input 22, which is
accessible with the
IN
command, but all axis-specific inputs 22, which in this
example are the EXT1 inputs of the connected Servo Drivers.
