| ASCII - Command | IN4MODE | |||
| Syntax Transmit | IN4MODE [Data] | |||
| Syntax Receive | IN4MODE <Data> | Available in | ||
| Type | Variable rw | MMI | Yes | |
| ASCII Format | Integer8 | CANBus Object Number | 356B (hex) | |
| DIM | - | PROFIBUS PNU | 1707 (dec) IND = 1 (dec) | |
| Range | 0 .. 50 | DPR | 107 (dec) | |
| Default | 0 | |||
| Opmode | All | Data Type Bus/DPR | Integer8 | |
| Drive State | Disabled + Reset (Coldstart) | Weighting | ||
| Start Firmware | 1.20 | |||
| Configuration | Yes | Last Change of this Object | 1.9 | |
| Function Group | Digital I/O | EEPROM | Yes | |
| Short Description | Function of Digital Input 4 | |||
Description
| The IN4MODE command is used to configure the function of the digital input INPUT4. 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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| IN4MODE=0 | Off | The state of the input 1 is read and can be used via fieldbus or Slot card. |
| IN4MODE=1 | 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". |
| IN4MODE=2 | PSTOP | A low on the input disables the positive direction (clockwise if DIR=1, counterclockwise if DIR=0). At the same time, a warning "n10" is displayed. If a negative edge is recognised while the motor is running, the drive stops the motor in OPMODE=0 (velocity control with setpoint zero) using the DECSTOP ramp. When the motor has stopped, the old OPMODE is activated. |
| IN4MODE=3 | NSTOP (4.78) | A low on the input disables the negative direction (clockwise if DIR=0, counterclockwise if DIR=1). At the same time, a warning "n11" is displayed. If a negative edge is recognised while the motor is running, the drive stops the motor in OPMODE=0 (velocity control with setpoint zero) using the DECSTOP ramp. When the motor has stopped, the old OPMODE is activated. |
| IN4MODE=4 | PSTOP+Intg.Off | A low on the input disables the positive direction (clockwise if DIR=1, counterclockwise if DIR=0). At the same time, a warning "n10" is displayed. If a negative edge is recognised while the motor is running, the drive stops the motor in OPMODE=0 (velocity control with setpoint zero) using the DECSTOP ramp. When the motor has stopped, the old OPMODE is activated (without integral part in the velocity controller). |
| IN4MODE=5 | NSTOP + Int. off | A low on the input disables the negative direction (counterclockwise if DIR=1, clockwise if DIR=0). At the same time, a warning "n11" is displayed. If a negative edge is recognised while the motor is running, the drive stops the motor in OPMODE=0 (velocity control with setpoint zero) using the DECSTOP ramp. When the motor has stopped, the old OPMODE is activated (without integral part in the velocity controller). |
| IN4MODE=6 | PSTOP+NSTOP | A low on the input disables the positive and the negative direction. At the same time, a warning "n10" and "n11" is displayed. If a negative edge is recognised while the motor is running, the drive stops the motor in OPMODE=0 (velocity control with setpoint zero) using the DECSTOP ramp. When the motor has stopped, the old OPMODE is activated. |
| IN4MODE=7 | P/Nstop+Intg.Off | A low on the input disables the positive and the negative direction. At the same time, a warning "n10" and "n11" is displayed. If a negative edge is recognised while the motor is running, the drive stops the motor in OPMODE=0 (velocity control with setpoint zero) using the DECSTOP ramp. When the motor has stopped, the old OPMODE is activated (without integral part in the velocity controller). |
| IN4MODE=8 | An In1/An In.2 | Switches over the command inputs analog input 1/2 at ANCNFG = 0. This function is only effective if the analog set-point function 0,Xcmd=analog input 1 has been selected. High level at the input : command input 2 (terminals X3/6,7) is active Low level at the input : command input 1 (terminals X3/4,5) is active |
| IN4MODE=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. This function can also be used for the VCT entry functionality, to select the adress of the VCT's. The start of the VCT entry is done by selecting one input with INxMODE=35. |
| IN4MODE=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. |
| IN4MODE=11 | v/Torq.Contr. | Bypasses the velocity controller. The analog command is taken 1:1 as the command 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). |
| IN4MODE=12 | Reference | home/reference switch located on machine |
| IN4MODE=13 | ROD/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 : digital encoder-compatible position signals (ENCMODE = 1) |
| IN4MODE=14 | FError_clear | Clear the warning of a contouring error (display n03) or the response monitoring (display n04). |
| IN4MODE=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. A rising edge starts the motion task, a falling edge cancels the motion task. |
| IN4MODE=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 IN4TRIG. Motion task number 0 (IN4TRIG=0) initiates homing/reference traverse. A rising edge starts the motion task, a falling edge cancels the motion task. |
| IN4MODE=17 | Start_MT IO | 17, 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 |
| IN4MODE=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 |
| IN4MODE=19 | Off | |
| IN4MODE=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=8 has to be selected. The speed is given in units of the position controller given by VUNIT. |
| IN4MODE=21 | U_Mon.off | Turns off the undervoltage monitoring function of the servo amplifier. |
| IN4MODE=22 | MT Restart | Continues the motion task that was previously interrupted by a STOP - command. |
| IN4MODE=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 IN4TRIG 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 |
| IN4MODE=24 | Switch over OPMODE | The two different OPMODEs, that can be selected for switching over via the digital input, are written in the IN4TRIG 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.: Input4=low OPMODE=4 Input4=high OPMODE=8 IN4MODE=24 (Activate Input) IN4TRIG=2052 (Decimal 0804h) 2052 (Dec) = 0804 (Hex) |
| IN4MODE=25 | Zero_latch | Sets the digital encoder zero pulse offset. The current position, depending on the digital encoder resolution 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.. |
| IN4MODE=26 | Off | |
| IN4MODE=27 | Emergency 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. |
| IN4MODE=28 | Reserved | |
| IN4MODE=29 | Reserved | |
| IN4MODE=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 INHCMD, the command buffer for the negative edge is INLCMD. 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. Remark: Only one of the digital inputs can use the INxMODE=30 function. |
| IN4MODE=31 | Command Buffer 2 | 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 INHCMDX, the command buffer for the negative edge is INLCMDX. The max. length of that buffers is 56 character for each. If a digital input is configured with INxMODE=31, 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. Remark: Only one of the digital inputs can use the INxMODE=31 function. |
| IN4MODE=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. If an error message is active, the brake cannot be de-energized. Starting with 4.78, this function also works if the drive has an error. |
| IN4MODE=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. |
| IN4MODE=34 | see 31 | Different from the functionality 31, the resulting answers of the commands are not suppressed, but are send to the seriell communication channel RS232. |
| IN4MODE=35 | Select Velocity/Current Entry | A positive edge on the digital input causes a takeover of the corresponding VCT entry (see command VCT). The number of the VCT entry is defined by the digital inputs configured with mode 9. |
| IN4MODE=36 | Give Offset to Gearing Function | Gearing mode 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 IN4TRIG. The scaling is in 20Bit per revolution every 250µs. The difference velocity (n) must be known, then the IN4TRIG can be calculated: IN4TRIG= n * 250 / ( 60 * rpm) e.g. n = 50 rpm IN4TRIG = 208 |
| IN4MODE=37 | Change source of the actual position at EXTPOS=1. | = 0 Actual position is generated by the external encoder selected by GEARMODE = 1 Actual position is generated by the first feedback device (resolver od high resolution feedback EnDAT or Hiperface) |
| IN4MODE=38 | Definition of a motion task with following motion tasks. If INxMODE=15 is used (start of an following motion task via I/O), IN4MODE=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. | |
| IN4MODE=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 IN4TRIG. The velocity is given by the lower 16 bit (scaling by VUNIT) and the time by the upper 16 bit (given in msec) of the help variable IN4TRIG. A rising edge at INPUTx changes the OPMODE to 0 (digital velocity) and gives the velocity that is given by IN4TRIG. After the defined time or a falling edge at INPUTx is detected, the digital velocity command 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 IN4TRIG 1. Velocity = 1000 rpm time = 10 sec = 10000 msec IN4TRIG = 0x271003E8 = 655361000 2. Velocity = -500 rpm time = 10 msec IN4TRIG = 0x000afe0c = 720396 |
| IN4MODE=40 | Additional hardware enable | 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. (Starting firmware 4.91) |
| IN4MODE=41 | Quick 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. |
| IN4MODE=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 (stating with firmware 5.51). |
| IN4MODE=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 IN4MODE = 42, the master position is latched at the rising edge of the input and the position delay caused by the ramp is compensated. IN4TRIG gives the possibility to add an position offset (in PGEARI units) to the latched position(starting with Firmware 5.51). |
| IN4MODE=44 | ||
| IN4MODE=45 | ||
| IN4MODE=46 | ||
| IN4MODE=47 | ||
| IN4MODE=48 | ||
| IN4MODE=49 | ||
| IN4MODE=50 | ||
| IN4MODE=51 | Master slave synchronisation | The trigger variable IN4TRIG sets the moving distance within the slave has to catch the master. This distance is defined on the Slave and is given in counts (20 Bit/turn => 2^20). CAMMCTRL can be set to 0 or 256. 256 is used if an overlap motion task should be used. |
| IN4MODE=52 | reserved | |
| IN4MODE=53 | reserved | |
| IN4MODE=54 | reserved | |
| IN4MODE=55 | 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 IN4TRIG. Make the conversion according to the following equation: IN4TRIG given in % of IPEAK The reduced value is active on low level. The level is opposite to IN1MODE 18 |