Elmo SERVO AMPLIFIER DBP SERIES 用户手册

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DBP - Rev 6/93

There are three start modes to begin a move:

A move can be initiated directly by a command from the host or a terminal.

A move can be initiated by a command included in the user program.

Another alternative is to have the move started by a conditional statement

specified by the user program.

A set of commands can be implemented as a user program to allow for

automatic and/or complex types of moves. The user may specify software

variables, conditional statements, subroutines and error routines which enable

enhanced motion control.

A motion can be terminated in a variety of ways. In all but emergency

termination modes the motor will be decelerated gradually to a stop and then

will enter one of the stationary modes (Servo, or Motor Off). In a position

mode move, the motion will terminate naturally upon reaching the desired final

position. In all of the control modes the motion can be terminated by a command

from the host. An additional means of termination is from one of the local

inputs.

Activating the forward and reverse limit switch inputs can be another means

of terminating a move. Upon contacting the switch, the #[ routine will be

activated. This is a user programmed routine that should normally include a

stop command to decelerate the motor to a full stop.

There are two methods of generating an emergency stop. The first is by an

abort command from the host, and the other is by the local abort input. Upon

receipt of either of these commands the system will go immediately to its

stationary mode.

Another "unnatural" way to terminate a motion is whenever an internal

amplifier inhibit (due to one of the protections) occurs. This turns off the

power stage and the motor will decelerate to a stop by friction only. There are

two modes of handling the internal amplifier inhibit:

The power stage is disabled and only a reset will release it.