AMCI SD4840EK, Руководство пользователя

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M
OVE
P
ROFILES
SD4840EK User Manual
ADVANCED MICRO CONTROLS INC.
28
Basic Move Types (continued)
CW/CCW Registration Move (continued)
An additional feature of the SD4840EK is the ability to program the driver to ignore the Controlled Stop con-
ditions until a minimum number of steps have occurred. This value is programmed through the Minimum
Registration Move Distance parameter, which is set when you command the Registration Move. The figure
below shows how the Minimum Registration Move Distance parameter affects when the Stop Condition is
applied to the move. As shown in the second diagram, Controlled Stop conditions are level triggered, not
edge triggered. If a Controlled Stop Condition occurs before the Minimum Registration Move Distance is
reached and stays active, the move will begin its controlled stop once the Minimum Registration Move Dis-
tance is reached.
Figure R2.10 Min. Registration Move Distance
Controlled Stops

The Registration Move Command bit is reset to “0”.

A positive transition on an input configured as a
Stop Jog or Registration Move
Input.
Starting a Registration Move with a
Stop Jog or Registration Move
Input in its active
state will result in a move of (
Minimum Registration Distance
+
Programmed Number
of Steps
).

You toggle the Hold Move control bit in the Network Output Data. The SD4840EK responds by using
the programmed Deceleration value to bring the move to a stop, without using the programmed Pro-
grammed Number of Steps. A Registration Move does not go into the Hold State if the Hold Move con-
trol bit is used to stop the move and it cannot be restarted.
Immediate Stops

The Immediate Stop bit makes a 0

1 transition in the Network Output Data.

A positive transition on an input configured as an E-Stop Input.

A CW/CWW Limit Switch is reached. If the limit that is reached is the same as the direction of travel,
for example, hitting the CW limit while running a CW move, a
Reset Errors
command must be issued
before moves are allowed in that direction again. If the limit that is reached is opposite the direction of
travel, a
Reset Errors
command does not have to be issued.
Note that it is possible to
start
a move while a CW or CCW Limit Switch is active as long as
the direction of travel is
opposite
that of the activated Limit Switch. For example, it is possible
to start a clockwise Registration Move while the CCW Limit Switch is active.
SP
E
E
D
SP
E
ED
POSITION
POSITION
Controlled
Stop Condition
Controlled
Stop Condition