User`s manual

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual
C27750-001 PAGE - 5-35 -
• On Power-Up (if configuration has been saved to NVM).
For Level Triggering:
The handler function is called repetitively and also when: -
• Initially setting up the digital input, when no previous function assigned to the input (i.e first time).
• The setting of the digital input invert is changed.
• On Power-Up (if configuration has been saved to NVM).
NOTE :- If digital inputs are already configured, and re-configure the input for a different purpose, do not switch
any of the digital inputs, and do not invert any of the digital inputs. The handler function is not called
Handler Handler Function Input Set Input Cleared
0 NULL - -
3 Brake Release Switch Release Brake Enable Brake
6 Positive Limit Switch Inactive Active
7 Negative Limit Switch Inactive Active
8 Homing Switch Active Inactive
9 Quickstop Quickstop -
10 Automatic Manual Mode Auto. Mode Manual Mode
11 Controlled Disable Disable -
17 CAN Enable/Disable Disable Enable
18 CAN Re-enable Enable -
19 Re-boot Re-boot -
Table 5.17 List of Digital Input Handler Functions
5.10.1.1.1 Brake Release Switch
This handler function releases the brake. The default operation is that setting the digital input (current flowing), will
release the brake, and clearing the input will enable the brake. By configuring this digital input, the user takes
control of the motor brake. There are two additional parameters that allow configuration of the amount of control the
user has over the brake.
brake_control (0x6510/21) configures the brake control in normal operation
brake_fault_control (0x6510/18) configures the brake control in a fault condition
The default operation is that input not configured by user. Brake is under Drive control so that on enable the brake is
released immediately. On disable or in a fault condition, the brake is applied immediately. (e.g. default is
brake_control = 1 and brake_fault_control = 1)
For full user control of the brake in all conditions including fault conditions and during a Quick Stop set both
brake_control and brake_fault_control to 0 in addition to configuring the digital input function .
5.10.1.1.2 Positive Limit Switch
This handler function is used to configure the input as a positive limit switch. The default operation is that when the
input is set the limit switch is inactive. If the input is cleared, and the drive is not performing a homing cycle, the
drive will stop. For torque mode operation, torque reference is reduced to zero. For velocity mode operation, the
motor is decelerated to zero. For position mode further moves in that direction are prevented. Motion in the opposite
direction is possible provided the other limit switch is not also activated. Further movement in the positive
direction is prevented, by disabling any torque from being applied in this direction. If the input is cleared, and the