SIXpack 2 – Manual (V1.10 / January 29
th
, 2010)
31
6.4.9
Aborting reference search
A reference search is aborted with CMD $2B, SQPack-Tab “Reference search”.
6.5
End switch configurations
To recognize a lost of steps and to avoid a possible mechanic damage it is reasonable to limit linear axis as
described in 5.5.
6.5.1
A_ln as end switch input
End switches to limit the axis can be connected to the input A_ln. Additionally to the in 5.5 described setup with
two opening end switches other configurations are possible:
A_ln is an analog input. In use as end switch voltage levels below a defined level are interpreted as the left and
above an other level as right end switch. These levels are defined with the command
SetStopSwitchLimits
, CMD
$30, SQPack-tab “I/O” in the variables
MinLeft
bzw.
MaxRight
.
6.5.2
Combination of end and reference switches
If the reference switch is at the end of the axis it can be used as en switch also. This function is activated by
setting the flag MT_STOPNULL (command
SetMotorParameters
, CMD $15). The flag MT_NULLLEFT (command
SetMotorParameters
) defines, on which side of the axis the combined end/reference switch is located.
MT_NULLLEFT = 0
end/reference switch is on the right.
6.5.3
“Security Margin” for combined end/reference switch
As described in chapter 6.4.5 errors can occur if a switch reacts too late or too early. It is recommended to provide
the combined end/reference switch with a “security margin”.
The value set with the command
SetMargin
, CMD $1A, SQPack-tab “Reference search”, defines the number of steps
the SIXpack 2 runs into the reference switch (see Figure 6.3 also).
Figure 6.4: Adjustments for reference switch function
