Kinco CD3 Series - Page 53

Kinco FD3&CD3 User Manual
49
The following table lists the digital input functions:
Table 5-2: Digital input functions
DIN Function
Description
Enable
Controller enabling
1: Enable controller (Controlword=Din_Controlword(2020.0F) , default value=0x2F)
0: Disable controller (Controlword = 0x06)
Reset Errors
Sets the Controlword to reset errors, active edge: 0 -> 1
Operation Mode sel
Operation_Mode selection
1: Operation_Mode=EL.Din_Mode1 (2020.0E), default value = -3
0: Operation_Mode=EL.Din_Mode0 (2020.0D), default value = -4
Kvi Off
1: Velocity control loop integrating gain off
0: Velocity control loop integrating gain has been set
Refer to chapter 7 for more information about Kvi.
P limit+
Positive / negative position limit switch input for “normally closed” limit switches
0: position limit is active, the related direction is blocked
P limit-
Home Signal
Home switch signal, for homing
Invert Direction
Inverts command direction in the velocity and torque mode
Din Vel Index0
Din_Speed Index in the DIN speed mode
Din Vel Index1
Din Vel Index2
Quick Stop
Sets the controlword to start quick stop. After quick stop, the controlword needs to be set to
0x06 before 0x0F for enabling (if the enable function is configured in Din, just re-enable it)
Start Homing
Starts homing. Only makes sense if the controller is enabled. The controller returns to the
previous operation mode after homing.
Activate Command
Activates the position command. Controls bit 4 of the Controlword, e.g. Controlword=0x2F-
>0x3F
Multifunction0
Gear ratio switch (refer to chapter 5.5.3 for more details)
Multifunction1
Multifunction2
Gain Switch 0
PI control gain switch (refer to chapter 5.5.4 for more details)
Gain Switch 1
Motor Error
1: Provokes the “Motor temperature” controller error. Can be used to monitor motor
temperature by means of an external temperature switch or PTC sensor. Polarity must be
set according to sensor type.
Fast_Capture1
Fast Capture (refer to chapter 5.5.5 for more details)
Fast_Capture2
Pre Enable
For safety reasons, Pre_Enable can serve as a signal for indicating whether or not the entire
system is ready.
1: controller can be enabled
0: controller can not be enabled
PosTable Cond0
Position table condition for position table mode
PosTable Cond1
Start PosTable
Start position flow of position table mode
PosTable Idx0
Position table starting index of position table mode
PosTable Idx1
PosTable Idx2
Abort PosTable
Abort position flow of position table mode