Monopack 2 Manual V1.04
17
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4.4
Stop and Reference Switches
4.4.1
Switch Mode ($54)
P2 defines if the reference switch is also used as an end switch. The switch must be connected to both the
reference input and to one stop switch input then (P3 defines if the left or the right stop switch input is used for
this purpose). If the reference switch is not used as a stop switch connect it to the reference input only.
P3 defines the direction of the calibration. Either the left or the right stop switch will be used for calibration
purposes.
P4 defines the movement mode. In circular mode, only the reference switch (connected to the reference input) is
used and the stop switch inputs are disabled. Also, P2 is ignored in circular mode. In linear mode, the end switch
inputs are enabled and P2 is used (please see also section 2.3.1).
P6 enables the travel check function together with command $59 (travel check tolerance, 4.4.5). In this function the
reference switch is also used as a travel check switch. If the travel check switch is found at a position out of the
travel check tolerance, the alarm output will be set high.
CMD
$54
P0
Parameter storage control (s. 4.1)
P1
0
Reserved; always set to zero
P2
0/1
0: separate reference and stop switches
1: stop switch also used as reference switch
P3
0/1
0: use left stop switch for calibration
1: use right stop switch for calibration
P4
0/1
0: circular movement 1: linear movement
P5
0
Reserved; always set to zero
P6
0/1
0:travel check disabled
1: use the reference switch also as a travel check switch (see also
4.4.5)
4.4.2
Deceleration at Stop Switches ($57)
Set the deceleration which is used to decelerate the velocity to zero when a stop switch is reached. If this value is
set to zero, a hard stop will be used (the motor stops abruptly when a stop switch is reached). If set to a value
other than zero, a soft stop will be used.
CMD
$57
P0
Parameter storage control (s. 4.1)
P1,P2
Deceleration (0..8191)#
4.4.3
Reference Search ($22)
This command starts a reference search. During the reference search also other commands can be given and they
are processed. Especially use the command $21 to see if the reference search has already finished. Any driving
command will abort the reference search.
Attention:
The motor has to be connected correctly to make this command work correctly (s. 2.2)!
The behavior of the reference search depends on the switch mode setting (command $54, s. 4.4.1) and is as
follows:
Circular mode: The reference switch (connected to the reference switch input) is searched at first from one
and then form the other side. The zero position is then set to the middle of the reference switch.
Linear mode:
Reference switch is also end switch: A move into the reference switch and then out of the reference
switch is executed. The zero position is then set to the beginning of the switch.
Separate reference switch and end switch: First, the left or the right stop switch (as configured) is
searched. After that, the reference switch is searched at first from one, then from the other side. The
zero position is then set to the middle of the reference switch.