Specifications

BASIC commands
PROGRAMMING MANUAL 106
Revision 5.0
3.2.160 INVERTER_COMMAND
/i
/i
Description INVERT_STEP is used to switch a hardware Inverter into the stepper pulse
output circuit. This can be necessary for connecting to some stepper drivers.
The electronic logic inside the Trajexia stepper pulse generator assumes that
the FALLING edge of the step output is the active edge which results in motor
movement. This is suitable for the majority of stepper drivers. Setting
INVERT_STEP=ON effectively makes the RISING edge of the step signal the
active edge. INVERT_STEP should be set if required prior to enabling the
controller with WDOG=ON. Default is off.
Note: If the setting is incorrect a stepper motor may lose position by one step
when changing direction.
Note: This parameter is applicable only to Flexible axis stepper output axes
with ATYPE=46. With other types of axes, this parameter has no effect.
Arguments N/A
Example No example.
See also N/A
Type System command
Syntax INVERTER_COMMAND(module, station, 1, alarm_number)
INVERTER_COMMAND(module, station, 8, mode)
INVERTER_COMMAND(module, station, 7, operation_signals)
Description INVERTER_COMMAND controls inputs and clears alarm of the Inverter con-
nected to the system via the MECHATROLINK-II bus.
There are three INVERTER_COMMAND functions:
• 1: Clears an alarm.
• 7: Controls operation signals.
• 8: Set an Inverter to Servo Driver mode, so it acts as a servo axis. This is
possible only for Inverters with an encoder feedback option card con-
nected.
To use an Inverter via MECHATROLINK-II you must put the command and
the reference via communication option:
• Inverter MV/V7: N3=3; N4=9
• Inverter F7/G7: B1-01=3; B1-02=3.
Make sure that the Inverter firmware supports the MECHATROLINK-II board.
The command returns -1 if successfully executed and 0 if failed.
The command sent to the Inverter corresponds with the bits given in the table
below.
Bit Value Command Description
0 Hex 1 Run forward
1 Hex 2 Run reverse
2 Hex 4 Inverter multifunction Input 3
3 Hex 8 Inverter multifunction Input 4
4 Hex 10 Inverter multifunction Input 5
5 Hex 20 Inverter multifunction Input 6
6 Hex 40 Inverter multifunction Input 7
7 Hex 80 Inverter multifunction Input 8 (Only G7)
8 Hex 100 External fault
9 Hex 200 Fault reset
10 Hex 400 Inverter multifunction Input 9 (only G7)
11 Hex 800 Inverter multifunction Input 10 (only G7)
12 Hex 1000 Inverter multifunction Input 11 (only G7)