Applied Motion RS-232 - Manual (Page 77)

77 920-0002 Rev. I
2/2013
Host Command Reference
FD - Feed to Double Sensor
Compatibility: All drives
See also:
FM, FS, FY, VC commands; see AT command for using analog input as sensor input
Accelerates the motor at rate AC to speed VE. When the first sensor is reached (first input condition is made), the
motor decelerates at rate DE to speed VC. When the second sensor is reached (second input condition is made),
the motor decelerates over the distance DI to a stop at rate DE. The sign of the DI register is used to determine
both the direction of the move (CW or CCW), and the distance past the second sensor. If DI is long the motor
may not begin decel immediately after the second sensor. If DI is short the motor may decelerate using a faster
decel rate than DE. Both analog and digital inputs can be used as sensor inputs.
BLu, STAC6, STAC5-Q/IP, SVAC3-Q/IP, STM
Both sensor inputs must be from the same physical I/O connector of the drive. This means that both inputs used
in this command must reside on the same I/O connector, either IN/OUT 1 or IN/OUT 2. In the case of BLuDC
drives this means that both inputs must reside on the same connector, either the main driver board I/O connector
(DB-25) or the top board connector (screw terminal).
Command Details:
Structure FD(Parameter #1)(Parameter #2)
Type BUFFERED
Usage WRITE ONLY
Non-Volatile NO
Register Access None
Parameter Details:
(See Appendix F: Working With Inputs and Outputs)
Examples:
Command Drive sends Notes
FDX2F4H - Launch Feed to Double Sensor move: decel from VE to VC when
input 2 changes from high to low (falling), then decel to a stop when
input 4 is high
AC50 - Set accel rate to 50 rev/sec/sec
DE50 - Set decel rate to 50 rev/sec/sec
DI-1 - Set move direction to CCW
VE5 - Set initial velocity to 5 rev/sec
VC1 - Set change velocity to 1 rev/sec
FD1F2H - Launch Feed to Double Sensor move: decel from VE to VC when
input 1 changes from high to low (falling), then decel to a stop when
input 2 is high