SIXpack 2 – Manual (V1.10 / January 29
th
, 2010)
38
Motor Parameters
Note on the reference search algorithm: Usually the reference switch is logically left, i.e. search orientation is
in the direction of descending co-ordinates. However if it is defined as logically right (
NullLeft
not set) then the
driving range is in the area of negative numbers because zero is the largest number on the position scale.
Note: To exchange left and right physically, only one phase of the motor has to be polarized reversely. The
setting
NullCenter
is extremely useful for rotary axes: Here the center of the zero switch is located, i.e. the
center between the left and right start of the switch operating point.
For further information read chapter 6.1: Hints for Programming!
CMD
$15
P0
motno (0...5)
P1,2,3,4 #
Poslimit
(0..0x7FFFFFFF): number of -steps (note: full-steps *16) per revolution for rotary axes
(is used
with rotation or way
optimization and reference search
only),
resp. total way for linear axis (with reference search and mechanical reference,
then 5/4 of the distance will be driven in direction of the mechanical stop)
P5 #
motor type:
Bit 0:
PIMode
: 0=trapezoidal ramp, 1=
PI-controller
Bit 1:
Rotary Axis
: 0=linear, 1=
rotary
axis
Bit 2:
AutonullCmd
: flag to start automatic reference search (s. CMD $22)
Bit 3:
TestNull
: set
Stop -bit
(s. CMD $20 P6),
(triggering an reference search) if
StopNoRef
(P6, Bit 6)=0)
if motor stops at zero point but switch remains inactive after settle time.
(Note: Check only when motor is ready!)
Bit 4:
NullLeft
: 1=zero point left of driving range, otherwise right
Bit 5:
NullCenter
: set zero point to the center of the switch’s active area
Bit 6:
StopNull
: stops the motor and sets
Stop
-
bit
,
(triggering an automatic reference search, if StopNoRef(P6, Bit 6)=0)
if zero switch is active outside the tolerance area around zero point
or analogue value exceeds its applying limit (s.b. modifier-bits 12 & 13)
Bit 7:
FilterSwitch
: 1=Zero point switch is de-bounced for 2-30ms
(s.b.: mask for switch de-bouncing)
P6 #
Bit 0:
Way optimization
for
rotary
axis by automatic selection of turning direction
Bit 1:
FastRef
: search for reference with high velocity (s.b.:
vrefmax
)
Bit 2:
MechRef
: use mechanical reference
(drives 5/4 *
poslimit
towards zero point) rather than a reference switch
Bit 3:
DelayTestNull
:
delay
zero
point
check
by
T0
-time
(s.
option
TestNull
)
in order to avoid failures caused by vibration. Initialization T0 s. CMD $11
Bit 4:
StopSoft
:
1=motor
decelerates
with
amax
when
stop
condition
(switch or analogue values) is detected rather than stopping abruptly
(s. description of
stop
-
function
via analogue-input s. CMD $31)
Bit 5:
StopNoRef
:
1=no setting of
Autonullcmd
(avoiding automatic reference search)
on stop conditions, the Motor just stops instead.
Bit 6:
NullPositive
:
1=zero point switch is high active, i.e. high level at null-point
0=switch is low active
Bit 7:
StopAtFullsteps
: Stop ramps only at the nearest fullstep position
