ICS TRIPLEX T9481 Channel input module

The Find Edge (FE) and Home (HM) instructions may be used to home the motor to a mechanical reference. This reference is connected to the Home input line. The HM command initializes the motor to the encoder index pulse in addition to the Home input. The configure command (CN) is used to define the polarity of the home input. The Find Edge (FE) instruction is useful for initializing the motor to a home switch. The home switch is connected to the Home input. When the Find Edge command and Begin are used, the motor will accelerate up to the slew speed and slew until a transition is detected on the homing line. The motor will then decelerate to a stop. A high deceleration value must be input before the find edge command is issued for the motor to decelerate rapidly after sensing the home switch. The velocity profile generated is shown in Fig. 6.8.

The Home (HM) command

 can be used to position the motor on the index pulse after the home switch is detected. This allows for finer positioning on initialization. The command sequence HM and BG causes the following sequence of events to occur. 1. Upon begin, the motor accelerates to the slew speed. The direction of its motion is determined by the state of the homing input. A zero (GND) will cause the motor to start in the forward direction; +5V will cause it to start in the reverse direction. The CN command is used to define the polarity of the home input. 2. Upon detecting a change in state on the home input, the motor begins decelerating to a stop. 3. The motor then traverses very slowly back until the home switch toggles again.

High Speed Position Capture

Often it is desirable to capture the position precisely for registration applications. The DMC-18x2 provides a position latch feature. This feature allows the position of the encoder of X,Y,Z, or W to be captured upon the state change of an external input signal. The general inputs 1 through 4 correspond to each axis.Note: The inputs are TTL. Latch time is less than 1 µsec. (high or low going) The DMC-18x2 software commands AL and RL are used to arm the latch and report the latched position. The steps to use the latch are as follows: 1. Give the AL XYZW command to arm the latch for the encoder. 2. Test to see if the latch has occurred (Input goes low) by using the _AL X or Y or Z or W command. Example, V1=_ALX returns the state of the X latch to the variable V1. V1 is 1 if the latch has not occurred.

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