BASIC commands
PROGRAMMING MANUAL 100
Revision 3.0
3.2.157 INVERT_STEP
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3.2.158 INVERTER_COMMAND
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Type Axis parameter
Syntax INVERT_STEP
Description INVERT_STEP is used to switch a hardware inverter into the stepper pulse
output circuit. This can be necessary in for connecting to some stepper driv-
ers. The electronic logic inside the Trajexia stepper pulse generator assumes
that the FALLING edge of the step output is the active edge which results in
motor movement. This is suitable for the majority of stepper drivers. Setting
INVERT_STEP=ON effectively makes the RISING edge of the step signal the
active edge. INVERT_STEP should be set if required prior to enabling the
controller with WDOG=ON. Default is off.
Note: If the setting is incorrect. A stepper motor may lose position by one step
when changing direction.
Arguments N/A
Example No example.
See also N/A
Type System command
Syntax INVERTER_COMMAND(module, station, 7, operation_signals)
INVERTER_COMMAND(module, station, 1, alarm_number)
Description INVERTER_COMMAND controls inputs and clears alarm of the frequency
inverter connected to the system via the MECHATROLINK-II bus.
There are two INVERTER_COMMAND functions:
• 1: Clears an alarm.
• 7: Controls operation signals.
To use an inverter via MECHATROLINK-II you should put the command and
the reference via communication option:
• Inverter MV/V7: N3=3; N4=9
• Inverter F7/G7: B1-01=3; B1-02=3.
Make you sure that the Inverter firmware supports the MECHATROLINK-II
board.
The command returns -1 if successfully executed and 0 if failed.
The command sent to the inverter will correspond with the bits given in the
table below.
Arguments • module
The number of the TJ1-ML__ that the inverter is connected to.
• station
The MECHATROLINK-II station number of the inverter.
• alarm_number
The number of the alarm. See the inverter manual.
• operation_signals
A bitwise value to control the operation signals. See the table below.
Example No example.
See also N/A
Bit Value Command Description
0 Hex 1 Run forward
I52E-EN-03.book Seite 100 Freitag, 29. Juni 2007 11:55 11
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