Servotronix stepIM, Техническое учебное пособие

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stepIM
Technical Training Manual 36
17 Motion Triggered by Digital Inputs
Digital inputs can be used to start, execute and stop pre-defined motions.
Object 20E0h is used to configure the digital input motion triggers.
Objects 2F90h—2F99h are used to configure motion segments. Object 2F90h
is motion segment 0, object 2F91h is motion segment 1, and so forth.
Object 2FC8h toggles the functionality of digital inputs as motion triggers.
Preliminary Task
1. Disable the drive.
2. In the ServoStudio Drive Objects table, define the properties of 8 motion
segments using objects 2F90h through 2F97h.
Since the segments will be movement
speed (and not a position path), you
need to define only sub-index 2 (cruise velocity), sub-index 3 (acceleration)
and sub-index 4 (deceleration) for each object, as follows:
Object Sub-index Description Value
2F90h Sub-index 2 cruise velocity 0 (no velocity)
Sub-index 3 acceleration 1000
Sub-index 4 deceleration 1000
2F91h Sub-index 2 cruise velocity 10000
Sub-index 3 acceleration 1000
Sub-index 4 deceleration 1000
2F92h Sub-index 2 cruise velocity 20000
Sub-index 3 acceleration 1000
Sub-index 4 deceleration 1000
2F93h Sub-index 2 cruise velocity 30000
Sub-index 3 acceleration 1000
Sub-index 4 deceleration 1000
2F94h Sub-index 2 cruise velocity 40000
Sub-index 3 acceleration 1000
Sub-index 4 deceleration 1000
2F95h Sub-index 2 cruise velocity 50000
Sub-index 3 acceleration 1000
Sub-index 4 deceleration 1000
2F96h Sub-index 2 cruise velocity 60000
Sub-index 3 acceleration 1000
Sub-index 4 deceleration 1000
2F97h Sub-index 2 cruise velocity 70000
Sub-index 3 acceleration 1000
Sub-index 4 deceleration 1000