Specifications

BASIC commands
PROGRAMMING MANUAL 66
Revision 5.0
fig. 20/i
3.2.73 DATUM_IN
/i
Example A machine similar to the machine in the example above must locate a home
switch, which is at the forward end of the move. The machine then moves
backwards to the next Z marker, and set this Z marker as the
datum. This is done with DATUM(5), which moves forward at SPEED to
locate the switch, then reverses at CREEP to the Z marker. If required, a
move is made to the datum Z marker.
SERVO=ON
WDOG=ON
DATUM_IN=7 'sets input 7 as home switch
SPEED=5000 'set speed, for quick location of switch
CREEP=500 'set creep speed for slow move to find edge of switch
DATUM(5) 'start the homing sequence
WAIT IDLE
See also ACCEL, AXIS, AXISSTATUS, CREEP, DATUM_IN, DECEL,
MOTION_ERROR, SPEED.
Type Axis parameter
Syntax DATUM_IN
DAT_IN
Description The DATUM_IN axis parameter contains the input number to be used as the
datum switch input for the DATUM command. The valid input range is given
by 0 to 31. Values 0 to 15 represent physically present inputs of TJ1-MC__ I/
O connector and are common for all axes.
Values 16 to 31 are mapped directly to driver inputs that are present on the
CN1 connector. They are unique for each axis. It depends on the type of
Servo Driver which Servo Driver inputs are mapped into inputs 16 to 31. For
more information on Servo Driver I/O mapping into the Trajexia I/O space,
refer to section 5.1.4.
Note: The origin input is active low, i.e., the origin switch is set when the input
is OFF. The feedhold, reverse jog, forward jog, forward and reverse limit
inputs are also active low. Active low inputs are used to enable fail-safe wir-
ing.
Arguments N/A