2.2.1 Motor Power
The enable output (EO) command is most often used to command the driver to enable or disable the current to the motor. The effect of the enable output signals will depend on the characteristics of the motor drive. The polarity of this output needs to match the drive and is set with the POL[axis](Bit9).
The enable output (EO) command is a 4-bit value, where a bit value of 1 is enabled and 0 is disabled for the corresponding axis. EO has a range of 0-15.
Enable output values can also be referenced one bit at a time by the EO[1-4] commands. Note that the indexes are 1-based for the bit references (i.e. EO1 refers to bit 0, not bit 1).
|
Bit |
Output |
Bit-Wise Command |
|
0 |
EOx [X-axis] |
EO1 |
|
1 |
EOy [Y-axis] |
EO2 |
|
2 |
EOz [Z-axis] |
EO3 |
|
3 |
EOu [U-axis] |
EO4 |
EO command
The initial state of the enable outputs can be defined by setting the 4-bit EOBOOT register to the desired initial enable output value. The value is stored to flash memory once the STORE command is issued.
|
Bit |
Output |
Setting |
|
0 |
EOx [X-axis] |
0 - Disabled 1 - Enabled |
|
1 |
EOy [Y-axis] |
0 - Disabled 1 - Enabled |
|
2 |
EOz [Z-axis] |
0 - Disabled 1 - Enabled |
|
3 |
EOu [U-axis] |
0 - Disabled 1 - Enabled |
EOBOOT command
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