20, Start_Jog v=x
Start of the setup mode "Jog Mode" with a defined speed. After selecting the function, you can enter the speed
in the auxiliary variable "x". The sign of the auxiliary variable defines the direction. A rising edge starts the
motion, a falling edge cancels the motion.
21, U_Mon.off
Turns off the undervoltage monitoring function of the servo amplifier.
22, MT Restart
Continues the motion task that was previously interrupted.
23, FStart2 Nr x
Start of a motion task that is stored in the servo amplifier, with definition of the motion task number. After
selecting the function, you can enter the motion task number in the auxiliary variable "x". Motion task number
"0" starts the homing run. A rising edge starts the motion task.
Warning!
The motion task does not sto p automatica lly if the start sign al is removed!
The motion task must be stopped by
— a falling edge on another digital input (configured with 16, Start_MT No x)
— the ASCII command STOP
— the STOP function of the setup software
24, Opmode A/B
Changeover of the operating mode (OPMODE). The numbers of the OPMODES that are to be changed over
are entered in the auxiliary variable "x" as a decimal number. You have to calculate this decimal value from a
2-byte hex value.
Bits 0... 7 of the hex value contain the number of the OPMODE to which the system changes when a falling
edge is detected at the appropriate input; bits 8... 15 contain the number for the response to a rising edge.
When the controller is switched on, the OPMODE is set according to the input level.
Example:
Preparation for the changeover between OPMODE 1 (LOW state) and OPMODE 2 (HIGH state) according to
the state of the digital input DIGI-INI.
Function DIGI-IN1 = 24
2 Byte Hex value: "0801" => decimal value: "2049"
Auxiliary value "x" = 2049
25, Zero_latch
Sets the ROD zero pulse offset. The current position, depending on the ROD resolution that is set, is calculated
at the rising edge and stored as NI-Offset. This function is used to perform an automatic save of all parameters.
26, Pos_latch
An edge causes a freezing of the actual position. The 32-Bit value is stored in the variable LATCHX32 (positive
edge) or LATCHX32N (negative edge). The 16-Bit value (absolute within a revolution) is stored in the variable
LATCHX16 (positive edge) or LATCHX1N (negative edge). The Latch procedure taken place is communicated
about the corresponding status bits. The min. Pulse length wich can be read by this input (Low/High and
High/Low toggle) is 500 µsek. For CANopen the minimum distance between two Latch impulses is 8 msek.
Setup Software 47
BECKHOFF 07/03 Screen page "Digital I/O"
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