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This section provides full details about the structure and
contents of a Stepper Motor Channel.
RegNo. 0: ActualPosition
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ActualPosition:
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LongInteger;
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Read:
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Shows
the current absolute position.
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Write:
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Set
actual position.
ActualPosition should only be changed when the motor is
idle, otherwise the position will be corrupted.
Note: changing the actual position may
result in an unintended move of the motor if the run flag is set.
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RegNo. 1: SetPoint
SetPoint can be changed during operation.
PD 626 will use the Acceleration
value to reach the new SetPoint.
The
function of SetPoint depends upon control mode
settings:
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Position
mode:
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SetPoint is the target position.
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Speed
mode:
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Setpoint
is the target speed.
If
setpoint = 0 the motor will be stopped.
Minimum
SetPoint value:
Depending
on the acceleration value, the lowest possible speed is:
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Acceleration
band:
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Lowest
possible speed:
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0.932
3.72
29,831
283,65
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to 3.72
to 29.831
to 283.65
to 898.44
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0.660 step/sec.
2.637
step/sec.
21.10
step/sec
168.8
step/sec
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If the setpoint is set to a value lower than the lowest
possible speed, the motor will run on the possible lowest speed and the
corresponding speed unreachable alarm bit will be set.
Optimum torque is achieved for speed settings higher
than 0.708 x acceleration value.
Maximum SetPoint value: 13000.
The maximum speed depends on the acceleration value. The highest guaranteed speed for any
acceleration values is 240 x acceleration.
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Motor
speed is changed in discrete steps. The resolution depends of the
acceleration value. The motor will use the highest possible speed lower or
equal to the set point.
See System
Notes for information about speed deviation.
RegNo. 2: ActualSpeed
Shows the
actual speed.
If ActualSpeed
= 0 the motor has stopped.
RegNo. 3: Acceleration
NOTE: TheAcceleration value
must never be changed while the motor is running!
Acceleration register contains the square root
of the requested acceleration.
Example:
The maximum acceleration required is 120 step/sec². The
Acceleration register should therefore be set to:  , which results in 10.95 being entered into the
Acceleration register.
Unit: 
Minimum
acceleration setting: 0.932 ( = 0.87 step/sec² )
Maximum acceleration setting: 898.44 ( = 807194.4 step/sec² )
RegNo. 4:
PositiveSpeedLimit
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PositiveSpeedLimit:
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Real;
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Depending
on the actual mode, the PositiveSpeedLimit has two different
functions:
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Position
mode:
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PositiveSpeedLimit is the positive (forward) speed
limit. The motor is accelerated to this speed.
If PositiveSpeedLimit
is changed during operation, the motor will accelerate / decelerate to the
new speed limit.
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Speed
mode:
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PositiveSpeedLimit is the speed limit. If the
requested speed in Setpoint is higher than PositiveSpeedLimit,
the speed will be held at the PositiveSpeedLimit.
If PositiveSpeedLimit
is changed during operation, the motor will accelerate / decelerate to the
new speed limit or the SetPoint whichever is the lower.
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If the
speed limit is set to a value lower than the possible
lowest speed, the motor will run at the lowest possible speed and the
alarm flag for ‘positive speed unreachable’ will be set.
RegNo. 5:
NegativeSpeedLimit
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NegativeSpeedLimit:
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Real;
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Depending
on the actual mode the NegativeSpeedLimit has two different functions:
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Position
mode:
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NegativeSpeedLimit is the negative (reverse) speed
limit. The motor is accelerated to this speed.
If NegativeSpeedLimit
is changed during operation, the motor will accelerate / decelerate to the
new speed limit.
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Speed
mode:
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NegativeSpeedLimit is the speed limit. If the
requested speed in Setpoint is lower than NegativeSpeedLimit,
the speed will be held at the NegativeSpeedLimit.
If NegativeSpeedLimit
is changed during operation, the motor will accelerate / decelerate to the
new speed limit or the SetPoint whichever is the lowest speed
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If the
speed limit is set to a value lower than the possible
lowest speed, the motor will run at the lowest possible speed and the
alarm flag for ‘negative speed unreachable’ will be set.
RegNo. 6: Enable
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7
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0
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0:
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1:
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2:
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3:
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4:
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5:
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6:
MotorMagnetized.
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7:
Run
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Bit 6:
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Motor Magnetized.
MotorMagnetized can be reset from the DPI in
order to release the motor and save power.
MotorMagnetized
can only be reset when the run bit is not set.
Setting
the Run bit automatically sets the Motor Magnetized bit.
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Bit 7:
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When
the bit is set (Run) the motor will start operating according to the
settings and motor magnetization is switched on.
If the
bit is reset (Stop) the motor decreases the speed using the value specified
in Acceleration until zero speed is reached.
The Run
bit can be set / reset via P-NET or by a defined condition on input 5 or
input 6.
When
the motor is stopped the magnetization stays active.
If a
current overload is detected, both Run and MotorMagnetized
flags are reset.
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RegNo. 7: Input5Function
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7
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0
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0:
StopOnFallEdge.
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1:
StopOnRiseEdge
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2:
StartOnFallEdge
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3:
StartOnRiseEdge
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4:
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5:
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6:
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7:
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Bit 0
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StopOnFallEdge.
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Reset
the Run flag on falling edge.
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Bit 1
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StopOnRiseEdge.
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Reset
the Run flag on rising edge.
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Bit 2
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StartOnFallEdge.
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Set the
Run flag on falling edge.
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Bit 3
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StartOnRiseEdge.
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Set the
Run flag on rising edge.
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RegNo. 8: Input6Function
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7
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0
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0:
StopOnFallEdge.
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1:
StopOnRiseEdge
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2:
StartOnFallEdge
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3:
StartOnRiseEdge
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4:
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5:
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6:
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7:
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Bit 0
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StopOnFallEdge.
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Reset
the Run flag on falling edge.
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Bit 1
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StopOnRiseEdge.
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Reset
the Run flag on rising edge.
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Bit 2
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StartOnFallEdge.
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Set the
Run flag on falling edge.
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Bit 3
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StartOnRiseEdge.
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Set the
Run flag on rising edge.
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RegNo. 9: Input5Capture
Input5Capture is a record of the
following structure:
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Record
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LastFallPosition:
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LongInteger;
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LastRisePosition:
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LongInteger;
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FallCount:
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LongInteger;
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RiseCount:
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LongInteger;
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End;
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LastFallPosition
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Holds
the actual position at the last falling edge of Input 5.
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LastRisePosition
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Holds
the actual position at the last rising edge of Input 5.
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FallCount
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Holds
the counts of falling transitions on Input 5.
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RiseCount
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Holds
the count of rising transitions on Input 5.
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RegNo. 10: Input6Capture
Input6Capture is a record of the following
structure:
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Record
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LastFallPosition:
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LongInteger;
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LastRisePosition:
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LongInteger;
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FallCount:
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LongInteger;
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RiseCount:
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LongInteger;
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End;
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LastFallPosition
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Holds
the actual position at the last falling edge of Input 6.
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LastRisingPosition
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Holds
the actual position at the last rising edge of Input 6.
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FallCount
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Holds
the count of falling transitions on Input 6.
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RiseCount
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Holds
the counts of rising transitions on Input 6.
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RegNo. 11: ChConfig
Config
is a record of
the following structure:
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Record
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WaveForm:
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Byte;
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DirectionInvert:
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Boolean;
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Mode:
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Byte;
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Notification:
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Byte;
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End;
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NOTE: Values in this register must never
be changed while the motor is running!
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WaveForm
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Selection
of motor control phase sequence:
0: half
step mode
1:
single whole step mode
2: dual
whole step mode / 2 bit gray-code signal
3:
external 3 bit gray-code motor drive mode
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DirectionInvert
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Selection
of reverse motor control.
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Mode
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Selection
of control mode:
0:
Position mode.
Run with the requested speed, continue
operation until SetPoint position is reached or Run flag is reset.
The Run flag may be reset by a DPI or by
conditions on Input 5 or Input 6.
1:
Speed mode.
Accelerate to the requested speed. continue
operation until Run flag is reset.
The Run flag may be reset by a DPI or by
conditions on Input 5 or Input 6.
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Notification:
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7
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0
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0: ErrorChange
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1:
RunFlag_Changed_By_Input
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2:
CurrentOverload
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3: MotorIdle
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4:
CaptureCounterChanged_IN5
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5:
CaptureCounterChanged_IN6
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6:
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7:
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Each bit
in the notification byte, enables an event to create a notification signal,
provided that notification for the channel is enabled in the Service channel.
Changing
the value of the Waveform or DirectionInvert registers may
result in a loss of true positional information and the system will need to
be re-initialized.
RegNo. 12: InFlags
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7
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0
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0:
Input5
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1:
Input6
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2:
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3:
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4:
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5:
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6:
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7:
MotorIdle
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Input flags are "1" when the input terminal is
connected to ground.
Input flags are "0" when the input terminal is
floating or connected to a high signal level.
When the input is "1" (True) the LED is ON.
A Rising edge (RiseEdge) is when the flag change
from "0" to "1" (from False to True).
MotorIdle is set when the motor has finished the
operation and the speed is 0 step/sec.
For
the stepper channel, ChType is a record having the following
structure:
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RECORD
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ChannelType:
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WORD;
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Exist:
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Bit16;
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Functions:
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Bit16;
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End;
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ChType
has the following value:
ChannelType = 32802
Exist =
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15
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7
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0
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1
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1
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0
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1
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1
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1
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1
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1
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1
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1
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1
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1
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1
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1
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1
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1
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Functions =
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15
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7
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0
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0: Speed mode
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1: Positioning mode
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2: Unipolar single
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3: Unipolar dual
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4: Unipolar halfstep
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Record
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His:
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Bit8;
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Act:
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Bit8;
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End;
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The 8 bits in Error.His and CHError.Act have
the following meaning:
When an error occurs, the corresponding bit is set in both
Error.His and Error.Act. When the error disappears, the bit is
cleared in ChError.Act.
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7
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0
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0:
AccParamOutOfRange
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1:
PositiveSpeedUnreachable
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2:
NegativeSpeedUnreachable
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3:
MotorCurrentOverload
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4:
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5:
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6:
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7: ModuleError
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Bit
7
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ModuleError.
If this bit is set, the rest of the bits have no meaning because a module
error can cause random error codes on the individual channels (see also
"Service channel").
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Bit
6
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Bit
5
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Bit
4
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Bit
3
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MotorCurrentOverload,
flag is set if the output current is too high. When detected the motor is
disabled, and the bit in Act will be reset.
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Bit
2
|
NegativeSpeedUnreachable,
the requested negative speed is unreachable.
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Bit
1
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PositiveSpeedUnreachable,
the requested positive speed is unreachable.
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Bit
0
|
AccParamOutOfRange,
the acceleration parameter is out of range
|
Speed unreachable alarm function:
Position mode: If the Positive or Negative speed limit
setting is outside the possible reachable speeds with the given acceleration
value, the corresponding bit is set.
Speed mode: If the
setpoint is set outside of the possible reachable speeds with the given
acceleration value, the corresponding bit is set.
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