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Start Modes

There are three start modes to begin a move:

Direct command

A move can be initiated directly by a command from the host or a terminal.

Program

A move can be initiated by a command included in the user program.

Input condition

Another alternative is to have the move started by a conditional statement specified by the user program.

Program Mode

A set of commands can be implemented as a user program to allow for automatic and/or complex types of moves. The user may specify software variables, conditional statements, subroutines and error routines which enable enhanced motion control.

Termination Modes

A motion can be terminated in a variety of ways. In all but emergency termination modes the motor will be decelerated gradually to a stop and then will enter one of the stationary modes (Servo, or Motor Off). In a position mode move, the motion will terminate naturally upon reaching the desired final position. In all of the control modes the motion can be terminated by a command from the host. An additional means of termination is from one of the local inputs.

Activating the forward and reverse limit switch inputs can be another means of terminating a move. Upon contacting the switch, the #[ routine will be activated. This is a user programmed routine that should normally include a stop command to decelerate the motor to a full stop.

There are two methods of generating an emergency stop. The first is by an abort command from the host, and the other is by the local abort input. Upon receipt of either of these commands the system will go immediately to its stationary mode.

Another "unnatural" way to terminate a motion is whenever an internal amplifier inhibit (due to one of the protections) occurs. This turns off the power stage and the motor will decelerate to a stop by friction only. There are two modes of handling the internal amplifier inhibit:

Latch Mode

The power stage is disabled and only a reset will release it.

DBP - Rev 6/93

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Elmo DBP SERIES manual Direct command, Program, Input condition, Latch Mode