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KIM101 K-Cube Piezo Motor Controller
When the port is used as an output it provides a push-pull drive of 5 Volts, with the
maximum current limited to approximately 8 mA. The current limit prevents damage
when the output is accidentally shorted to ground or driven to the opposite logic state
by external circuity.
Warning: do not drive the IO ports from any voltage source that can produce an output
in excess of the normal 0 to 5 Volt logic level range. In any case the voltage at the
TRIG ports must be limited to -0.25 to +5.25 Volts.
Trig Channel - The piezo drive channel assigned to the Trigger output.
Trig Mode - The trigger functionality assigned to the associated trigger output as
described below.
Input Trigger Modes
When configured as an input, the TRIG ports can be used as a general purpose digital
input, or for triggering a relative, absolute or home move. When used for triggering a
move, the port is edge sensitive. In other words, it has to see a transition from the
inactive to the active logic state (Low->High or High->Low) for the trigger input to be
recognized. For the same reason, a sustained logic level will not trigger repeated
moves. The trigger input has to return to its inactive state first in order to start the next
trigger. The mode is set in the Trig 1 Mode and Trig 2 Mode parameters as follows:
Disabled - The trigger IO is disabled
Digital Input - General purpose logic input (read through status bits using the
associated server message.
Trig In Rel. Move - Input trigger for relative move. On receipt of the trigger, the
motor will move by the number of position steps entered in the Trigger Input
Options - Relative Move Step parameter.
Trig In Abs. Move - Input trigger for absolute move. On receipt of the trigger, the
motor will move to the position entered in the Trigger Input Options - Absolute
Move Position parameter.
Trig In ResetCount - Input trigger for Encoder Count Reset. On receipt of the
trigger, the counter will reset and all subsequent moves will be measured from the
current position.
When the trigger mode is selected to Trig In Rel Move or Trig In Abs Move, the relative
distance or absolute position to move, can be entered in the Relative Move Dist and
Absolute Move Pos. parameters.
Note
Each trigger IO channel has a set of General Trigger Settings and these are applied
to whichever drive channel is assigned in the Trig x Channel parameter.
The Channel Specific Trigger Settings apply only to the piezo drive channel currently
active when the settings button was clicked, and can be set differently for each of the
four drive channels.
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