Impulse PCW-5181 user manual Inactive

Chapter 4 - Configuring Impulse with Application Developer

Setup - Editing Stored Moves later in this chapter for more information on Home moves.

Jog +: Activation of a Jog+ input will jog the motor at the acceleration rate specified by the Jog Accel parameter and the velocity specified by the current state of a Jog Speed input in the positive direction. If a Jog Speed input has not been configured, the motor is jogged at the velocity specified by the Jog-Low parameter.

Jog -: Activation of a Jog- input will jog the motor at the acceleration rate specified by the Jog Accel parameter and the velocity specified by the current state of a Jog Speed input in the negative direction. If a Jog Speed input has not been configured, the motor is jogged at the velocity specified by the Jog-Low parameter.

Jog Speed: The Jog Speed input toggles between the low and high velocities for the Jog+ and Jog- inputs as specified by the Jog-Low and Jog-High parameters. If the state of Jog Speed input is changed while a Jog+ or a Jog- input is asserted, the motor will accel or decel at the Jog Accel rate to the high or low velocity respectively.

Kill: Activation of a Kill input terminates any motion (external steps or internal move engine) instantly without a deceleration ramp.

Move Select: The Move Select input is used to trigger one of the 7 possible stored moves (Motion Node option only). Each configured Move Select input serves as a bit in a 3-bit binary number therefore allowing the binary representation of numbers 0-7. The Move Select configuration option is only available on inputs #1-#3 with input #1 being the least significant bit (LSB) and input #3 being the most significant bit (MSB). Note that the bit places are fixed with respect to the input numbers. For example, if input #1 were configured as an EOT and input #2 were configured as a Move Select, asserting input #2 would run stored move #2 not stored move #1. Below is a Move Select assertion table:

Move Select Inputs

Input #3 State	Input #2 State	Input #1 State	Result
Inactive	Inactive	Inactive	Idle
Inactive	Inactive	Active	Run Stored Move #1
Inactive	Active	Inactive	Run Stored Move #2
Inactive	Active	Active	Run Stored Move #3
Active	Inactive	Inactive	Run Stored Move #4
Active	Inactive	Active	Run Stored Move #5
Active	Active	Inactive	Run Stored Move #6
Active	Active	Active	Run Stored Move #7

To guard against inadvertently selecting moves during input transitions, all Move Select inputs must be stable for the time specified by the Move Select Input Scan Time. See the “Editing Stored Moves” section for more information on setting the Move Select Input Scan Time.

Stop: Activation of a Stop input terminates any motion (external steps or internal move engine) at the rate specified by the Stop Rate parameter.

Warm Boot: Activation of a Warm Boot input resets the drive and clears any latched fault condition. To guard against a Warm Boot input being inadvertently held asserted, the Warm Boot input is negative edge triggered (activation on to activation off). To insure the negative edge is latched, the Warm Boot input must be held asserted for at least 500∝ s before releasing.

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