Installation guide

56 Motion Controller Programming Interface
6.3.7.9 - Travel Limit Folder
The hardware limits and software limits are controlled from
this folder.
Hardware travel limits choices are disabled, active on
switch closing and active on switch opening. Hard limit
inputs are used to stop the motor before it runs into a
physical end of travel, thus avoiding damage to the me-
chanical system.
Activating the +limit input stops the motor if it is rotating
in the + direction. Activating the –limit input stops the
motor if it is rotating in the – direction. A fault condition
is a result of the hardware travel limit activation. See the
ERR command in Section 7 to create an error handling
routine.
Hard limit deceleration, if non-zero, specifies the axis de-
celeration if a hard limit is activated. If the value is zero
than the Maximum Acceleration value will be used to stop
the motor.
Software travel limits can be enabled or disabled.
Positive software limit specifies the programmable posi-
tion limit for a positive motion. An error is generated when
this position is exceeded.
Negative software limit specifies the programmable posi-
tion limit for a negative motion. An error is generated
when this position is exceeded.
6.3.7.10 – Mechanical Home & Mark
Registration Folder
This folder specifies the trigger for the mechanical home
(MOVEHOME), mark registration cycle (MOVEREG) and
specifies the maximum distance allowed for a mark registra-
tion cycle.
Mechanical Home trigger & Mark Registration trigger
specifies the trigger for the cycle. There are two trigger
inputs EVENT1 and EVENT2 that can be used as a trigger.
The trigger combination for mechanical home and Mark
registration are: event 1 active, event 1 inactive, event 1
active & encoder marker, event 1 inactive & encoder
marker, encoder marker active, encoder marker inactive,
event 2 active and event 2 inactive.
Registration travel limit specifies the maximum distance,
in units, allowed for a mark registration cycle. If the value
is zero a travel limit is not limited.
6.3.7.11 – I/O Folder
This folder allows an external input to generate a controller
system reset.
Input assignment allows an external input to generate a
controller system reset. The choices are none, Expansion
board 1 – input 1 and Digital board 1 – input 1.
6.3.8 – Preparing User Project for
Execution
In order to execute a project program it must first be Com-
piled and then Downloaded to the controller. The project
source code can be recovered from the controller as well if
the save source option is utilized.
6.3.8.1 – Project Source code
The Project Source Code is the English version of the user
=s program. If the user =s program needs to be uploaded
from the controller at any time, Α Save Source Code ≅
must be enabled. The Source code of a project can be
saved in the controller. However, the source code uses up
program memory in the controller. The selection for source
code saving is accessed by clicking on the System menu.
Clicking on the Save source code item can toggle the Save
source code setting. A check mark will appear when the
source code is to be saved.
Note: Saving the source code in the controller requires a
lot of program memory. If the user ==s program is ex-
tremely long it may not be possible to save the source
code. See the FREEMEM command for more information.
noneReset
Input assignment
I/O
event1 active
Axis 1
Mechanical home trigger Mark registration trigger
event2 active
Mechanical home
Mark registration
Registration
travel limit
(Units)
0.0
Axis 2
event1 active event2 active
0.0
active on switch closing
Axis 1
Hard limit
deceleration
(units/sec )
0.0 disabled
Positive software
limit (units)
Hardware travel limits
Software travel
limits
Negative software
limit (units)
0.0
0.0
Axis 2 0.0 disabled
0.0 0.0
2
Travel limits
active on switch closing
System
Save source code
Keyword checking
Terminal settings
Document settings