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M4120170509EN
UI Robot Technology Co. Ltd.
UIM24102/04/08-IE
•
Reset position and encoder counter (code: 6)
•
Reset position and encoder c Reverse displacement control follow the preset
motion parameters (speed, displacement, acceleration) (code: 7)
•
Reset position and encoder c Decelerate at preset deceleration until stop (code:
11)
•
Reset position and encoder c Emergency stop (code: 12)
•
Off (code: 15)
8.5 Introduction to Sensor Input Control Instructions
There are only 5 instructions related to the sensor input control.
1.
MCF (Master Configuration Register)
The ANE bit (MCFG<15>) and CHS bit (MCFG<14>) of the master configuration
register define the digital/analog input of the sensor port. The S1IE bit (MCFG<0>)
and S2IE bit (MCFG<1>) enable/disable the sensor real-time change notification
(RTCN). See section 5.4 for details.
2.
SCF (Sensor Configuration Register)
SCF is used to configure following sensor input control registers: S12CON, ATCONH
和
ATCONL
。
3.
STG (Sensor Trigger Configuration)
STG is used to configure sensor trigger mode, UIM241 has three trigger modes:
Single
Trigger, Continouns Trigger
and
N ms Intermittent Trigger
.
4.
STO (Sensor Parameter Store into EEPROM)
STO is used for storing parameters such as S12CON, ATCONH, ATCONL, SPD, and
STP into EEPROM so that Sensor Input Control Module can perform the control when
user device is absent.
5.
SFB (Sensor Status Feedback)
At any time and under any scenario, using the instruction SFB can always read back
the logic value of S1 and S2 as well as the analog measurement (given
MCFG<ANE>=1, MCFG<CHS> =0).
