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Indexing

Valid for S400, S600

Indexing via a digital input.

Firmware conditions

  • Full functionality from firmware version 3.00.
  • In firmware version 2.40 functions 3 and 4 are not implemented.
  • EXTLATCH (source selection) from firmware version 4.61
  • IN1MODE 26 (latch via digital in 1) from firmware version 4.61

Function

During indexing it is possible to latch the current position controlled by an input signal. This function is possible with digital inputs 1 and 2. Two position registers are accessible, were with the positive and negative edge the position value is transferred to. A relative motion task can be started with the positive or negative latched position and the message "position latched" can be transmitted to an output.

Another functionality is: start a motion task directly with latching via input 2.

Settings

Make the following setting via the terminal:

  1. INxMODE 26 (x = 1 o. 2)
    A latch function is dedicated to a input x.
  2. To start a relative motion task to the latched position, the variable O_C must be set: with the bits 0, 1, 2, 15 motion task type can be selected. Explanation to O_C can be found in the ASCII object reference list in the online help of the setup software.
    Attention: changing the motion tasks with the setup software will change the motion task type O_C.
    Bit 0 Bit 1 Bit 2 Bit 15 Meaning
    1 1 1 0 Relative motion task, the position value within the motion task is used as distance.
    New target position = positive latch position + distance of the motion task.
    1 1 1 1 Relative motion task, the position value within the motion task is used as distance. 
    New target position = negative latch position + distance of the motion task.
  3. O2MODE 37
    O2TRIG 1048576
    This command series prepares output 2 to deliver the signal "position latch (positive edge) done". Reading of register LATCH32 resets the output.
    O1MODE 39
    O1TRIG 8388608
    This command series prepares output 1 to deliver the signal "position latch (negative edge) done". Reading of register LATCH32N resets the output.
  4. IN2TRIG X
    With the positive edge at input 2 the motion task X (value 1 to 180) is started. The motion task cannot be started with the negative edge.
  5. LATCH16 und (LATCHX16) – (X  – relation to input 1, else input 2)
    With this command the latched value (with the poitive edge within one motor rotation) can be read. Latch16 for input 2. LatchX16 for input 1.
  6. LATCH16N und (LATCHX16N) – (X  – relation to input 1, else input 2)
    With this command the latched value (with the negative edge within one motor rotation) can be read. Latch16N for input 2. LatchX16N for input 1.
  7. LATCH32 und (LATCHX32)  – (X  – relation to input 1, else input 2)
    With this command the value (latched with positive edge) can be read. This is the calculated value, that describes the whole distance.
  8. LATCH32N und (LATCHX32N) – (X  – relation to input 1, else input 2)
    With this command the value (latched with negative edge) can be read. This is the calculated value, that describes the whole distance.
  9. EXTLATCH
    The configuration variable EXTLATCH defines the source of the position information when using the latch functions.

The source of the position information depends on the setting of the variables INxMODE and EXTLATCH. If only a digital input for the latch function (INxMODE=26) has been configured, then the variable EXTLATCH is out of function. With an edge at the appropriate digital input both the position of the motor feedback (((resolver)) / ((EnDAT)) / ((Hiperface))) and the external ((incremental encoder)) (ROD) are stored.

If both inputs (input 1 and input 2) have been configured for the latch function, then the sources of the position values for the individual latch inputs can be defined with the variable EXTLATCH.

If both IN1MODE 26 and IN2MODE 26 are set, then:

Status Latch with Input 1 Latch with Input 2
EXTLATCH =0 Resolver/EnDAT/Hiperface depending on FBTYPE Resolver/EnDAT/Hiperface depending on FBTYPE
EXTLATCH =1 external incremental encoder (ROD) Resolver/EnDAT/Hiperface depending on FBTYPE
EXTLATCH =2 external incremental encoder (ROD) external incremental encoder (ROD)