| ASCII - Command | IN1MODE | |||
| Syntax Transmit | IN1MODE [Data] | |||
| Syntax Receive | IN1MODE <Data> | Available in | ||
| Type | Variable rw | MMI | Yes | |
| ASCII Format | Integer8 | CANBus Object Number | 3562 (hex) | |
| DIM | - | PROFIBUS PNU | 1698 (dec) IND = 1 (dec) | |
| Range | 0 .. 90 | DPR | 98 (dec) | |
| Default | 0 | |||
| Opmode | All | Data Type Bus/DPR | Integer8 | |
| Drive State | Disabled + Reset (Coldstart) | Weighting | ||
| Start Firmware | 1.0 | |||
| Configuration | Yes | Last Change of this Object | 2.13 | |
| Function Group | digital I/O | EEPROM | Yes | |
| Short Description | Function of Digital Input 1 | |||
Description
| The IN1MODE command is used to configure the function of the digital input INPUT1. The amplifier must be switched off and then on again after an alteration of this parameter. The following functions can be configured: |
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| Status | Function | Description |
| IN1MODE=0 | no function | The state of the input 1 is read and can be used via fieldbus or Slot card. |
| IN1MODE=1 | Failure Reset | Software reset of the servo amplifier in the event of a fault. The high input signal is ignored, if the drive has no fault. All the functions and displays are set to the initial status. Parameters that are not stored in the EEPROM are erased, the parameter set that is stored in the EEPROM is loaded. If any of the error messages F01, F02, F03, F05, F08, F13, F16 or F19 ( p.52) are present, then no software-reset will be carried out, just the error message will be deleted. This means that, for example, the encoder output signals are stable and can continue to be evaluated by the controls. When the input is high, while the auxillary 24V supply is switched on, the drive waits, before the input is set to low. This state is symbolised in the display. The first of the three display positions displays a "A". |
| IN1MODE=2 | no function | |
| IN1MODE=3 | no function | |
| IN1MODE=4 | no function | |
| IN1MODE=5 | no function | |
| IN1MODE=6 | no function | |
| IN1MODE=7 | no function | |
| IN1MODE=8 | Analog In 1/Analog In 2 | Switches over the setpoint inputs Analog In 1/2 at ANCNFG = 0. This function is only effective if the analog set-point function 0,Xcmd=Analog In 1 has been selected. High level at the input : Analog In 2 (terminals X3/6,7) is active Low level at the input : Analog In 1 (terminals X3/4,5) is active |
| IN1MODE=9 | MT_No_Bit | Here you can select the motion tasks that are stored in the servo amplifier (numbers 1...7) or the reference traverse/homing (0). The motion task number is presented externally at the digital inputs as a logical word, with a width of max. 3 bits . An input is required to start the motion task (INxMODE =17, Start_MT IO). If you wire up a reference/homing switch (INxMODE =12, Reference) and (also) want to start a following task (INxMODE =15, Start_MT Next) externally, the number of inputs that are available for selecting the motion tasks will be further reduced. |
| IN1MODE=10 | Intg.Off | Switch off the integral component of the velocity controller, the P-gain remains at the set value, the actual- (rotational) velocity feedback remains in operation. |
| IN1MODE=11 | v/Torq.Contr. | Bypasses the velocity controller. The analog setpoint is taken 1:1 as the setpoint for current control, i.e. change over from velocity control to current (torque) control. High-level at the input : torque control Low-level at the input : velocity control Depending on OPMODE, it changes between OPMODE=0 (low) and OPMODE=2 (high) or OPMODE=1 (low) and OPMODE=3 (high). |
| IN1MODE=12 | Reference | home/reference switch located on machine |
| IN1MODE=13 | digital encoder/SSI | Changeover of the encoder-emulation (position output) on connector X5. High level at the input : SSI-compatible position signals (ENCMODE = 2) High level at the input : ROD-compatible position signals (ENCMODE = 1) |
| IN1MODE=14 | FError_clear | Clear the warning of a contouring error (display n03) or the response monitoring (display n04). |
| IN1MODE=15 | Start_MT Next | The following task, that is defined in the motion task by Start with I/O is started. The target position of the present motion task must be reached before the following task can be started. (see also O_C tablel 3) |
| IN1MODE=16 | Start_MT No x | Start a motion task that is stored in the servo amplifier, by giving the motion task number. After the function has been selected you can enter the motion task number as the auxiliary variable IN1TRIG. Motion task number 0 (IN1TRIG=0) initiates homing/reference traverse. A rising edge starts the motion task, a falling edge cancels the motion task. Only OPMODE 4 or 8 |
| IN1MODE=17 | Start_MT IO | Start_MT IO Start of the motion task that has the number that is presented, bit-coded, at the digital inputs (PSTOP/NSTOP/DIGITAL-IN1/DIGITAL-IN2, see function 9, MT_No_Bit ). A rising edge starts the motion task a falling edge cancels the motion task by a STOP - command |
| IN1MODE=18 | Ipeak2 x | Switch over to a second (lower) peak value of current. Scaled as x (0...100) % of the peak current of the instrument. After the function has been selected you can enter the percentage value as the auxiliary variable IN1TRIG. Make the conversion according to the following equation: IN1TRIG given in % of IPEAK |
| IN1MODE=19 | Off | |
| IN1MODE=20 | Start_Jog v=x | Start of the setup mode "Constant velocity" with a defined speed. After selecting the function, you can enter the speed in IN1TRIG. A rising edge starts the motion, a falling edge cancels the motion. This function works in position control, so OPMODE=4,5,6,8 has to be selected. The speed is given in units of the position controller given by VUNIT, the sign selects the moving direction. |
| IN1MODE=21 | U_Mon.off | Turns off the undervoltage monitoring function of the servo amplifier. High = off Low = on |
| IN1MODE=22 | MT Restart | Continues the motion task that was previously interrupted by a STOP - command. |
| IN1MODE=23 | Start2_MT No x | Start of a motion task that is stored in the servo amplifier, with definition of the motion task number. After selecting the function, you can enter the motion task number in IN1TRIG Motion task number 0 starts the homing run. A rising edge starts the motion task. Warning ! The motion task does not stop automatically if the start signal is removed ! The motion task must be stopped by a falling edge on another digital input (configured with 16, FStart_Nr x) the ASCII command STOP the STOP function via Bus or digital input |
| IN1MODE=24 | Switch over OPMODE | The two different OPMODEs, that can be selected for switching over via the digital input, are written in the IN1TRIG help variable of the this input. The lower byte consists the OPMODE that should be available when the input has a negative edge. The higher byte consists the OPMODE that should be available when the input has a positive edge. When the drive is switched on, the OPMODE is set automatically to the corresponding state of the input. The contents of the help variable must be in decimal !! e.g.: Input1=low OPMODE=4 Input1=high OPMODE=8 IN1MODE=24 (Activate Input) IN1TRIG=2052 (Decimal 0804h) 2052 (Dec) = 0804 (Hex) |
| IN1MODE=25 | Zero_latch | Sets the digital encoder zero pulse offset. The current position, depending on the digital encoder resolution (ENCOUT) that is set, is calculated at the rising edge and stored as NI-Offset in ENCZERO. After that, an automatic SAVE is generated. This function is used to perform an automatic setting of the zero pulse in one turn of the motor.. |
| IN1MODE=26 | Position Latch | A edge on this input latches the actual position. The position can then be read by LATCH1P32 (positive edge) or LATCH1N32 (negative edge). The actual 16-Bit position (absolute in one turn) can be read by LATCH1P16 (positive edge) and LATCH1N16 (negative edge). The status of the latching can be read by the equivalent bits of DRVSTAT. The min. cycle time for a low/high to high/low transaction is 500µs. The min. time between two latch pulses is 1 msec. In case IN1TRIG value is <> 0, the motion task with the fiting number is executed. |
| IN1MODE=27 | Quick Stop | Low state on the input starts an emergency stop function, that is executed with the ramp DECSTOP. Independently of the selected OPMODE, in this phase, the drive stops in velocity control. When it has stopped, it switches over to the original mode. Drive is still enabled! |
| IN1MODE=28 | Starting Jogmode | OPMODE = 4,5,6,8 Firmware >= 0.73 A rising edge starts a jogmode with speed VJOG. A falling edge stopps the movement. |
| IN1MODE=29 | Starting motion task / homing | With the rising edge the motion task starts which is coded with digital inputs INxMODE=9. With motion task 0 a homing procedure starts. Warning: a falling edge does not stop motion! |
| IN1MODE=30 | Command Buffer 1 | A positive or negative edge on the input starts a command buffer. This command buffer contains separate ASCII objects, that are separated with semicolon (;). The command buffer for the positive edge is INH1CMD, the command buffer for the negative edge is IN1LCMD. The max. length of that buffers is 56 character for each. If a digital input is configured with INxMODE=30, this input will proceed in that way. When the drive is switched on, the Command buffer is set automatically started to the corresponding state of the input. |
| IN1MODE=32 | Brake | Warning ! With suspended loads, this function will lead to slipping of the axes ! A rising edge at the input triggers the braking output of the servo amplifier. This function is only available while the amplifier is disabled. |
| IN1MODE=33 | see 30 | Different from the functionality 30, the resulting answers of the commands are not suppressed, but are send to the seriell communication channel RS232. This setting can't be used in combination with GUI software. |
| IN1MODE=36 | Give Offset to Gearing Function | Gearing mode OPMODE =4. A high signal on the digital input configured with this INxMODE adds a difference velocity to the gearing. This allows a simple synchronisation of two axes. The difference velocity is given to IN1TRIG. The scaling is in 32Bit per revolution every 250µs. The difference velocity (n) must be known, then the IN1TRIG can be calculated: IN1TRIG = n [rpm]*2^32/(4000*60) example: n = 500 [U/min] INxTRIG = 500 * 2^32 / (4000*60) = 8947848 |
| IN1MODE=37 | change of source for position detection with EXTPOS > 0 | = 0 Position from the external encoder (preselection with EXTPOS). = 1 Position is detected by the first encoder on the motor (FBTYPE). |
| IN1MODE=38 | Enable signal for following motion task | Definition of a motion task with following motion tasks. If INxMODE=15 is used (start of an following motion task via I/O), IN1MODE=38 can be used, to have an additional enable for the start of the following motion tasks. Means, that the following motion task is started, if once a rising edge on digital input 1 was detected and then the INxMODE=15 input is enabled to start the following motion task. |
| IN1MODE=39 | Constant velocity for defined time | This function starts a constant velocity for a defined time. The parameters for velocity and time are given by IN1TRIG. The velocity is given by the lower 16 bit (scaling by VUNIT), bit 15 is the sign and defines the moving direction and the time by the upper 16 bit (given in msec) of the help variable IN1TRIG. A rising edge at INPUT1 changes the OPMODE to 0 (digital velocity) and gives the velocity that is given by IN1TRIG. After the defined time or a falling edge at INPUT1 is detected, the digital velocity setpoint is set to "0". After the actual velocity has reached "0" the OPMODE is automatically switched back to the old one. Example for defining the help variable IN1TRIG 1. Velocity = 1000 rpm time = 10 sec = 10000 msec IN1TRIG = 0x271003E8 = 655361000 2. Velocity = -500 rpm time = 10 msec IN1TRIG = 0x000afe0c = 720396 |
| IN1MODE=40 | Additional hardware input | The digital input works as an additional hardware input. Only if this input has a high signal, the power stage is enabled. This Function can be used by several inputs. In this case, the inputs are configured in series. All inputs have to be high to enable the power stage. |
| IN1MODE=41 | Emergency Stop | If the input is going to low, the drive stops the motor using the DECSTOP ramp. If zero velocity is reached (V<VEL0), the power stage is disabled. While stopping the motor the bit 24 (0x01000000) in TRJSTAT is set. The input is read in the 250µs task. |
| IN1MODE=42 | Activate/deactivate electronic gearing | Activate/deactivate electronic gearing in OPMODE = 4. This function is practical only with slave axis. A rising edge on the digital input starts the motion from 0 to the master speed and a falling edge changes the speed from master speed to 0. The ramp times can be set by ACCR for the acceleration and DECR for deceleration time. |
| IN1MODE=43 | Activate/deactivate electronic gearing with position latch | Activate/deactivate electronic gearing in OPMODE = 4. This function is practical only with slave axis. A rising edge on the digital input starts the motion from 0 to the master speed and a falling edge changes the speed from master speed to 0. The ramp times can be set by ACCR for the acceleration and DECR for deceleration time In contrast to IN1MODE = 42, the master position is latched at the rising edge of the input and the position delay caused by the ramp is compensated. IN1TRIG gives the possibility to add an position offset (in PGEARI units) to the latched position. |
| IN1MODE=49 | emergency stop (sensorless) | (High active) By a going edge an emergency stop is activated (current controlled without feedback) |
| IN1MODE=50 | emergency stop (sensorless) | (Low active) By a going edge an emergency stop is activated (current controlled without feedback) |
| IN1MODE=51 | Master slave synchronisation | to synchronisate by ENGAGE =6 to decouple ENGAGE =12 |
| IN1MODE=53 | Master slave synchronisation | to synchronisate by ENGAGE =7 to decouple ENGAGE =12 |
| IN1MODE=57 | switch to second parameter set | Low: std. Parameter used High: second Parameter group used see also command PARCNFG |
| IN1MODE=60 | VOSPD-Switch | Switch Overspeed Threshhold (VOSPD) the rising edge switch from overspeed threshhold VOSPD) to INxTRIG. the falling edge actives the initially value |
| IN1MODE=61 | Pulse Length on IN1 | Measure Pulse Length on IN1 It is activated for the latch function. It measures the time between the rising and falling edge at input IN1. The measured time (in 1 usec increments) is stored in the Latchvariable LATCH1N32. About the status bits in TRJSTAT the state of the time measurement can be read: TRJSTAT = 0x2000000-rising edge recognized, timing continues TRJSTAT = 0x4000000 falling edge recognized , finished timekeeping |
| IN1MODE=62 | discharge of the dc-bus | When the DC-Bus should be discharge, first switch off the main voltage. Manually, set the digital input to 1, after some seconds, the DC-Link capacitor is discharged and VBUS nearby 0 Set back the digital input to 0 and now the DC-Bus can be charged again and the amplifier can be operated as normal. Danger: In order to prevent this function from being activated when the supply is switched on, the net-BTB signal (power supply on) is internally monitored. If the monitoring of the net BTB is switched off (NONBTB> 0), this function can not be used. |