Page History

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• If Se<>0, we are likely experiencing a hard reset. In that case:
  • Signal state change to 80 (Hard Reset Initialization)
  • Set EL (Encoder lines) to 4096, giving 4096 lines * 4 steps/line = 16384 steps/rev
  • Set MS (Microsteps) to 82, giving 82 uSteps/step * 200 step/rev = 16400 uSteps/rev
  • Set EE (Encoder enabled) to 0, forcing open-loop step mode. Closed-loop mode is too slow because of a 1kHz loop rate.
  • Set S3 (I/O 3 settings) to 16,1,1. This is used for encoder power - sourcing output, active high.
  • Set O3 (Output 3) to 1, turning the encoder on.
  • Set S4 (I/O 4 settings) to 16,0,0. This is used for fan power - sinking power, active low.
  • Set O4 (Output 4) to 1, turning the fan on.
  • Set S13 (I/O 13 settings) to 60,0,0. This is used for input signaling, and makes it available to the input capture trip (interrupt)
  • Set FC (Filter Capture) to 9. This sets a debounce filter on input 13 with a 12.9usec delay time.
  • Set HT (Hold Time) to 5, setting the hold current delay time to 5ms.
  • Set RC (Run Current) to 100, making 100% of current available for movement.
  • Set HC (Holding Current) to 5.
  • Set NE (Numeric Enable) to 0, to prevent errant communications as being interpreted as movement commands.
  • Set Pu (Power-Up Flag) to 0 to prevent IOC from locking itself.
  • Set Sw (Sweep Distance) to 512 counts.
  • Reset Dr (Drift) to 0.
  • Reset P0 (Open position) to 0.
  • Reset P1 (Positive closed position) to P0+Sw = 512.
  • Reset P2 (Negative closed position) to P0-Sw = -512.
  • Pre-load shadow registers: Po=P, Cs=C2
  • Set Ec=1 to turn error checking on.
• For both hard and soft resets, we do the following
  • Signal state change to 81 (Soft Reset Initialization)
  • Disable any trips (TE=0)
  • Hold for 100ms to let things stabilize.
  • Set Se (Mode Select) to 0
  • Goto Mode Select Loop

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• Signal state change to 10 (One-Shot Init)
• Load One-Shot speeds (V1)
• Calculate target position using drift of current position (X9)
• Specify One-Shot ISR (J1) to run on Input Trip
• Arm Input Trip (TE=TE|4)
• Signal state change to 11 (One-Shot Loop)
• One-Shot Loop START (forever):
  • Increment heartbeat
  • Hold for 100ms
  • If user sets the soft reset (Se=0)
    • Go back to mode select
  • EndIf
  • If movement is complete (Sd=90)
    • Signal state change to 12 (One-Shot Complete)
  • EndIf
• One-Shot Loop END

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Sd - Status Indicator