2.1.3.2.1 High-Speed Digital Inputs
The Commander core provides four (4) high-speed inputs. Each input can independently be set as a position latching input or general-purpose input. By default, these inputs are set to general-purpose input.
Position Latching Inputs
Any of the four high-speed inputs can be set independently to be position latch inputs by enabling the feature using the LT[axis] command for the corresponding axis. This feature will allow the controller to perform a high-speed position capture of both pulse and encoder counters based on a digital input trigger. The timing between digital input trigger being received and the capture of the pulse and encoder position is 150 to 200ns.
Each axis has a designated digital input to perform a high-speed position latch. See corresponding latch input for each axis in the table:
|
Axis |
Input |
|
X |
DI1/LTCx |
|
Y |
DI2/LTCy |
|
Z |
DI3/LTCz |
|
U |
DI4/LTCu |
Latching inputs
Use the LT[axis] command to enable and disable the latch feature. To read the latch status, use the latch status LTS[axis] command. Table LTS command return below describes the possible return values of the latch status command.
|
Value |
Condition |
|
0 |
Latch off |
|
1 |
Latch on and waiting for latch trigger |
|
2 |
Latch triggered |
LTS command return
Once the latch is triggered, the triggered pulse position can be retrieved using LTP[axis] command. Similarly, the triggered encoder position can be retrieved using the LTE[axis] command.
When StepNLoop mode is enabled, the position value is invalid.
< Section Home | Home | Next SubSection >
Any of the four high-speed inputs can be set independently to be general-purpose inputs by disabling the position latch feature using the LT[axis] command for the corresponding axis. These inputs are set to general-purpose by default.
The digital input status of all four available inputs can be read with the DI command. Digital input values can also be referenced one bit at a time by using the DI[1-4] commands. Note that the indexes are 1-based for the bit references. For example, DI1 refers to bit 0, not bit 1. See table DI command below for details.
|
Bit |
Input |
Bit-Wise Command |
|
0 |
Digital Input 1 |
DI1 |
|
1 |
Digital Input 2 |
DI2 |
|
2 |
Digital Input 3 |
DI3 |
|
3 |
Digital Input 4 |
DI4 |
DI command
If a digital input is on, the corresponding bit of the DI command is 1. Otherwise, the bit status is 0. The voltage level required to activate a digital input is determined by the polarity setting. The DIP command can be used to toggle the polarity of the digital inputs.
< Section Home | Home | Next SubSection >