stepIM. Index move in position mode. training .
stepIM. Index move in position mode
Revision
Darft
A
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Name
Yifat
Inon
Date
29/11/2016
30/11/2016
FW
0.0.2.85
0.0.2.85
stepIM. Index move in position mode. training .
1. Goal
Have three Digital inputs switches, which make the motor:
(a) Go to its zero position (from any point)
(b) Rotate 3 revolution clockwise
(c) Rotate 4 revolution counterclockwise.
The operation mode for this exercise is 1-Profile Position.
Pay attention: when defining a profile position, you must fill number of iterations and
controlword, in addition to position, velocity, acceleration and deceleration.
2. Objects definition
2.1. Define the 0 position
Fill in the drive objects table the values:
2.2. Define 3 revolution clockwise
Fill in the drive objects table the values:
The target position is 12288, Since 1 Rev= 4096 counts→ 3 Rev = 12288 counts.
2.3. 4 revolution counterclockwise
Fill in the drive objects table the values:
The target position is -16384, Since 1 Rev= 4096 counts counts→ 4 rev. (CCW) = -12288
counts.
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stepIM. Index move in position mode. training .
3. Enabling the triggers
In the ServoStudio Drive Objects table, set the value of object 2FC8h to 1.
4. Input switches configuration
4.1 . Go to the I/Os screen
4.2 . Define the next inputs:
Digital Input 4 is for changing object 0x6040 (controlword) value at the end of each
action to 111 (meaning enabling the drive and setting, the encoder’s reading to be
incremental and not absolute).
5. Additional settings
- In the Drive Objects table, make sure the option Update all objects is enabled.
- Check the values of Object 20E0 sub-indices.
- Make sure the values are updated now appear as follows:
Between each switch, you must turn on and off input 4 in order to get value 4 to 0x6040.
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