Sollae Systems PES-2403, Руководство пользователя

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PES-2403 User Manual > How to use > Settings the Initial Position > Stop automatically
2017-07-28 Sollae Systems page 22 of 26
Stop automatically
A command goto ~ sw can be used to automatically stop the stepper motor operation when the
limit switch is closed.
If the motor stops by this command, the status value of the motor becomes the stopped status.
a format of the goto ~ sw command
"goto [dir]sw(id) [speed] [accel] [decel]"
※ Caution: there is no space between [dir] and sw(id)
argument description mandatory/optional
dir direction, "+"(forward) or "-"(reverse) optional(default: "+")
id ID of a digital input port, 0/1/2/3 mandatory
speed speed(unit: pps) optional
accel acceleration(unit: pps/s) optional
decel deceleration(unit: pps/s) optional
an example of stopping a motor automatically
<?php
include_once "/lib/sd_spc.php";
spc_reset();
spc_sync_baud(460800);
$sid = 1;
spc_request_dev($sid, "set vref stop 2");
spc_request_dev($sid, "set vref drive 8");
spc_request_dev($sid, "set mode full");
// rotate until digital input 0 is LOW
echo "find positive limit ...";
spc_request_dev($sid, "goto +sw0 400 0");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
echo "done\r\n";
sleep(1);
// rotate until digital input 1 is LOW
echo "find negative limit ...";
spc_request_dev($sid, "goto -sw1 400 0");
while((int)spc_request_dev($sid, "get state"))
usleep(1);
echo "done\r\n";