Danaher Motion B8961, Руководство оператора

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B8961 and B8962 User Manual
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F,f Set CL Force (F specifies axis 1, f specifies axis 2)
In addition to being able to set a clamping current via the CL command,the user
can also set the clamp curent on the fly based on an input.When the SET CL
FORCE input is asserted during a CL defined move,the control will maintain the
torque the motor is producing at that instant. For example,if the following move is
executing:VE1 CL3 DA3 GO (CL units are Amps),and a SET CL FORCE input is acti-
vated when the motor current control is at 1.5 amps,the current will be clamped
to 1.5 amps.If this input is not triggered,the control will clamp the current to 3
amps.The SET CL FORCE input requires a valid CL move to be in progress other-
wise the input is ignored.The SET CL FORCE input is intended for applications
clamping to load cell feedback.
H Z axis Home Input
Not yet implemented.
I Interrupt (Run 98)
When activated,motion on all axes is stopped,at the stop-rate (see Edit-Setup-Misc-
Stop-Rate).The cur rent program is stopped,and processing continues with the first
command in program 98.If no program is running when the input is activated,
program 98 will run.This input is ignored while the keypad is in Edit mode.This is
a positive edge sensitive input, rather than a le vel sensitive input.If multiple inputs
are configured as Interrupts,only the first edge of the first activated input will be
seen.If subsequent Interrupt inputs go active while the first Interrupt input is
active,no additional interrupts will be seen.
Advanced Interrupt handling can be achie ved using the (INT98CRTL) and (ARM
INT98) variables.The (INT98CTRL) varia ble determines whether Inter rupts can be
disabed or not.The (ARM INT98) variable allows you to arm and disarm the
Interrupt as desired.
When the Indexer powers up (INT98CTRL) is initialized to 0.In this mode, evry
interrupt results in an immediate jump to program 98, even if you just entered pr o-
gram 98.This means that it is possible for the interrupt service routine to be inter-
rrupted by another interrupt input.This functionality is backwards compatible with
earlier versions of firmware in IDC SmartDrives.The value of (ARM INT98) is
ignored.
When (INT98CTRL) = 1 you can enable and disable Interrupts at will with the
(ARM INT98) variable.Setting (INT98CTRL) = 1 also initializes (ARM INT98) to 1.
This means the control is watching for interrupts.When (INT98CTRL) is set to 1 an
interrupt causes the program to jump to program 98 AND sets (ARM INT98) = 0,
disabling any further interrupts until you reenable them by setting (ARM INT98) =
1.This allows you to control when you want to reenable interrupts in your inter-
rupt service routine (program 98).
To summarize,when (INT98CTRL)=1:
If (ARM INT98) = 0
I n t e rrupts are ignore d . (ARM INT98) is automatically set to 0 by the Smart Dri ve on
the fi rst edge of the input, if the previous (ARM INT98) value was 1. I n t e rrupt pro c e s s-
ing will be suspended until (ARM INT98) is reset to 1.This allows for input debounc-
ing and gi ves teh user control over the ability of pro gram 98 to interrupt itself.
If (ARM INT98) = 1
The system is awaiting the firt INT98 input assert edge.Once the interrupt is seen
the control will go to program 98.Subsequent interrupts are ignored until (ARM
INT98) is set to 1.