Parker
Hannifin
Appendix D Drive I/O 127
Motion Enable Input
The motion enable input is designed to halt motion even in the absence of
firmware control. The input is directly connected to the CPU and the drive
enable circuits in the ACR90x0.
The input is considered active when 5-24 VDC are across the two pins. If the
input goes inactive, that inactive state is latched and the ACR90x0 reacts by
doing the following:
•
Forcing the DAC outputs to zero.
•
Blocking the step generation output.
The status of the motion enable input is shown in bit 5646, where active is a
cleared or 0 state, and inactive is a set or 1 state.
When the enable input goes inactive, bit 5645 is set and latched until voltage
is present again on the enable input and the
DRIVE ON
command is sent.
Example
A typical recovery routine for this event would need to wait until the enable
input is active, state 0, clear the kill all motion request bits for axes attached
to the master, clear the kill all move request for master0 and re-enable all
needed drives. The following is for a 2 axis recovery routine.
100 IF (NOT BIT 5646) THEN GOTO 200
REM IF THE ENABLE INPUT IS
REM ACTIVE, STATE 0 THEN GO ON
110 GOTO 100
REM LOOP BACK TO LINE 100
200 CLR 8467 CLR 8499 REM CLEAR THE KILL ALL MOTION FLAG
205 CLR522
REM CLEAR THE KILL ALL MOTION FLAG
REM FOR MASTER
210 DRIVE ON X Y
REM REENABLE THE DRIVES
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