Elmo HARSFEN0602, HARmonica software manual 173, Digital Outputs

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

RLS and FLS can be read by the user program and activate their corresponding automatic routines, but they do not affect the motion immediately.

The position referencing limits VH[3] and VL[3] become ineffective.

! If •the modulo value is selected low, and the sensor speed is high, more than one full revolution the position counter may elapse within a single sampling time.

This will cause the position counter to behave in an unpredictable way.

Example:

Consider a motor rotating in the constant speed of 4000 counts/sec, with XM=2000. The PX variable will behave as depicted below.

1000
500
0	Main
	Position (PX)
-500
-1000		Time (sec)
0	0.5	1	1.5

The PX variable changes in the range [-XM/2 … XM/2-1], which is in this example [-1000..999].

The largest possible modulo is 231 . With this modulo setting, PX varies in the range [ − 230..230 −1].

The variable PY counts the distance traveled by the auxiliary encoder. The PY variable is counted modulo YM, similarly to the way PX counts modulo XM.

13.2 Digital Inputs

The Harmonica has 6 digital input pins. The digital input pins must be associated to functions before being used. All the digital input pins can be associated to the Enable, Stop, RLS, FLS, and Begin functions. Two of the digital inputs are connected to high-speed hardware counters. These inputs can also associate to the Home function.

The association of input pins to functions is described in detail in the Command Reference Manual, the IL[] command.

13.3 Digital Outputs

The harmonica has two digital output pins. The digital output pins must be associated to a function before being used. The functions may be general purpose output, Amplifier Ready

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