User guide

112 6000 Series Programmer's Guide
User Fault
(INFNCi-F)
An input defined as a User Fault input acts as an immediate Kill (!K) command, stopping
motion on all axes and terminating program execution. If error-checking bit #7 is enabled
(e.g., ERROR.7-1), then a user fault input will cause a branch to the ERRORP error program
(for more information, see Error Handling on page 30) and the occurrence of a user fault input
will be reported by error bit #7 (see TERF, TER and ER commands).
Servos: Motion is stopped at the rate set with the hard limit (LHAD& LHADA)
commands.
Steppers: Motion is stopped with no deceleration ramp (CAUTION: Because there is no
deceleration ramp, the motor may stall, or the drive may fault, possibly causing
the load to free wheel—no control from the drive).
Trigger Interrupt
(INFNCi-H)
Any trigger input may be defined as a Trigger Interrupt input and can be used for these functions:
• Position Capture (see below)
• Special trigger functions assigned with the TRGFN command (see below)
• Registration (see discussion on page 182)
NOTE:
When configured as
Trigger Interrupts, the
triggers cannot be
affected by the input
enable (INEN)
command.
The Trigger Interrupt function can be assigned only to the trigger inputs (not to the general-
purpose inputs). For example, if your controller has 4 trigger inputs represented by input
numbers 25-28 (input bit assignments vary by product – see page 107), to assign the interrupt
function to all 4 triggers, you would program the inputs as follows:
• Positions captured only by trigger A: assign function with INFNC25-H
• Positions captured only by trigger B: assign function with INFNC26-H
• Positions captured only by trigger C: assign function with INFNC27-H
• Positions captured only by trigger D: assign function with INFNC28-H
Trigger Input Debounce
The trigger interrupt input is debounced for 24 ms (servos) or 50 ms (steppers) before another
input on the same trigger is recognized. If your application requires a shorter debounce time,
you can change it with the INDEB command (refer to Input Debounce Time on page 109).
Position Capture Certain applications (such as coordinate measurement machines) require latching the current
position upon receiving an input. When a trigger input defined as a trigger interrupt input is
activated, the commanded position (motor position for steppers) and the position of all feedback
devices on all axes are captured at one time. The position information is stored in registers and
is available at the next system update through the use of transfer and assignment/comparison
commands (see table below).
Captured
Information
Transfer
Command
Assignment/Comparison
Command
Motor Position (steppers only) TPCM PCM
Commanded Position (servos only) TPCC PCC
Encoder Position * TPCE PCE
Resolver Position ** TPCEA PCEA
ANI Position (servos with ANI only) TPCA PCA
ANI Voltage (servos with ANI only) TCA CA
LDT Position TPCL PCL
* 615n: Encoder position is captured by trigger B and reported with the TPCEB and PCEB commands.
** 615n: Resolver position is captured by trigger A and reported with the TPCEA and PCEA commands.