Elmo SERVO AMPLIFIER DBP SERIES - Manual (Page 23)

22
DBP - Rev 6/93
Start Modes
There are three start modes to begin a move:
Direct command
A move can be initiated directly by a command from the host or a terminal.
Program
A move can be initiated by a command included in the user program.
Input condition
Another alternative is to have the move started by a conditional statement
specified by the user program.
Program Mode
A set of commands can be implemented as a user program to allow for
automatic and/or complex types of moves. The user may specify software
variables, conditional statements, subroutines and error routines which enable
enhanced motion control.
Termination Modes
A motion can be terminated in a variety of ways. In all but emergency
termination modes the motor will be decelerated gradually to a stop and then
will enter one of the stationary modes (Servo, or Motor Off). In a position
mode move, the motion will terminate naturally upon reaching the desired final
position. In all of the control modes the motion can be terminated by a command
from the host. An additional means of termination is from one of the local
inputs.
Activating the forward and reverse limit switch inputs can be another means
of terminating a move. Upon contacting the switch, the #[ routine will be
activated. This is a user programmed routine that should normally include a
stop command to decelerate the motor to a full stop.
There are two methods of generating an emergency stop. The first is by an
abort command from the host, and the other is by the local abort input. Upon
receipt of either of these commands the system will go immediately to its
stationary mode.
Another "unnatural" way to terminate a motion is whenever an internal
amplifier inhibit (due to one of the protections) occurs. This turns off the
power stage and the motor will decelerate to a stop by friction only. There are
two modes of handling the internal amplifier inhibit:
Latch Mode
The power stage is disabled and only a reset will release it.