Applied Motion 1240i - Manual (Page 17)

SCL Software Manual 17
920-0010 rev B
9/26/07
You send Notes
DI20000 feed 20000 steps
DC15000 set output at 15000 steps
FO1L close output 1 at 15000 steps
FP – Feed to Position
Executes Feed to Position (absolute move) command. Move position comes from the last DI com-
mand. Speed, accel and decel are from VE, AC and DE commands.
FS – Feed to Sensor
Executes Feed to Sensor command. Requires input number (1-8) and condition (H=high, L=low,
R=rising, F=falling) The motor moves until the sensor state change is detected, then stops a precise
distance beyond the sensor. That distance is specified by the DI command. The direction of rotation is
determined by the sign of the DI command (positive is clockwise). Speed, accel and decel are from
the most recent VE, AC and DE commands.
A motor moving at a given speed, with a given decel rate, needs a certain distance to stop. If you
specify too short a distance, the drive may become confused and greatly overshoot the target. Use the
following formula to compute the minimum decel distance, given a velocity V (in rev/sec) and decel
rate D (in rev/sec/sec.). R = steps/rev.
DI = R
min
2
V
2D
Example: DI = (20000) = 400 steps
min
2
(1)
(2)(25)
The Help screen of the SCL Setup utility contains a special calculator that computes the distance for
you.
Example:
You send
Drive sends Notes
FS1L nothing Feed to Sensor 1 low
FS3R nothing Feed to Sensor 3 rising edge
FY – Feed to Sensor with Safety Distance
Executes Feed to Sensor command, but monitors total distance traveled. If sensor is not found before
distance exceeds DC, the motor is stopped and the drive sends the host and exclamation point (“!”).
This is useful for detecting machine jams or the end of a roll of labels. For example: you are feeding
labels. You want to stop each label 2000 steps after the sensor detects the leading edge. The labels
are 60,000 steps apart. Therefore, if you move the roll more than 60,000 steps without detecting a new
label, you must be at the end of the roll.
You send Notes
DI2000 stop 2000 steps beyond sensor
DC60000 stop after 60000 steps if no sensor detected
FY2L feed to sensor 2 low
HW – Hand Wheel