TA = time to START motor:
maximum 30 ms
TB = time between falling edge and rising edge of start signal:
minimum 50 ms
COMMAND SEQUENCE TO EXECUTE A POSITIONING:
RELATIVE POSITIONING:
- Enable driver (ZSW BIT 3)
- Set relative quote (PNU 7)
- Set start relative positioning bit (ZSW BIT 0) to 1
- Wait TA time to START motor (minimum 30ms) or front 0-1 of motor running bit (STW BIT 1)
- Wait end of positioning (front 1-0) or zero level of motor running bit (STW BIT 1)
- Set start relative positioning bit (ZSW BIT 0) to 0
- Wait TB time (minimum 50ms) and start new positioning. If TB is not respected motor may be not start
ABSOLUTE POSITIONING:
- Enable driver (ZSW BIT 3)
- Set absolute quote (PNU 8)
- Set start absolute positioning bit (ZSW BIT 1) to 1
- Wait TA time to START motor (minimum 30ms) or front 0-1 of motor running bit (STW BIT 1)
- Wait end of positioning (front 1-0) or zero level of motor running bit (STW BIT 1)
- Set start absolute positioning bit (ZSW BIT 1) to 0
- Wait TB time (minimum 50ms) and start new positioning. If TB is not respected motor may be not start
JOG CW / JOG CCW:
- Enable driver (ZSW BIT 3)
- Set JOG CW (ZSW BIT 8) or JOG CCW (ZSW BIT 9) to 1 (start motor)
- Wait TA time to START motor (minimum 30ms) or front 0-1 of motor running bit (STW BIT 1)
- Set JOG CW (ZSW BIT 8) or JOG CCW (ZSW BIT 9) to 0 (stop motor)
- Wait zero level of motor running bit (STW BIT 1)
- Wait TB time (minimum 50ms) to start new JOG. If TB is not respected motor may be not start
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