Applied Motion RS-232 - Manual (Page 88)

88 920-0002 Rev. I
2/2013
Host Command Reference
FY - Feed to Sensor with Safety Distance
Compatibility: All drives
See also:
DC, FD, FM and FS commands; see AT command for using AIN as sensor input
Executes a Feed to Sensor move while monitoring a predefined safety distance DC. DI defines the direction of
rotation and the stop distance to move after the sensor triggers the stop input condition. Accel rate, decel rate,
and velocity are set by the AC, DE, and VE commands, respectively. Note that the maximum final motor position
will be the safety distance plus the distance required to decelerate the load, which is dependent on the decel rate
DE.
NOTE: If the safety distance is exceeded, three things will happen. The motor is stopped, the drive sends the
host an exclamation point (“!”) and adds a value of 1 to the Other Flags register (“F” register). This can occur
if the sensor is not encountered before DC is reached, or if the DI value is set high enough that the total move
distance would exceed the maximum of DC plus the deceleration distance determined by DE.
This command is useful for avoiding machine jams or detecting the end of a roll of labels. For example, you are
feeding labels and you want to stop each label 2000 steps after the sensor detects the leading edge. The labels
are 60,000 steps apart. Therefore, if you move the roll more than 60,000 steps without detecting a new label, you
must be at the end of the roll.
NOTE: DI must be assigned a value greater than zero when used with the FY command. If DI is set to zero (DI0),
the motor will not move.
Command Details:
Structure FY(Parameter #1)
Type BUFFERED
Usage WRITE ONLY
Non-Volatile NO
Register Access “F” (022)
Executing the FY command will put a value of 2 in the “F” register
when the sensor is successfully found, or a value of 1 in the “F”
register if the safety distance is met. If you plan to use the “F”
register for monitoring the success of the FY command you must
zero the register before each FY command by executing RLF0.
Parameter Details:
(See Appendix F: Working With Inputs and Outputs)
Examples:
Command Drive sends Notes
DI2000 - Set distance to stop beyond sensor to 2000 counts/steps
DC60000 - Set safety distance to 60000 counts/steps
FY2L - Launch Feed to Sensor: motor will stop when input 2 is low or when
60000 counts/steps are reached: whichever event comes first
When using the SE, QE, or Si drives and needing to access the main driver board inputs...
FYX2L
- Launch Feed to Sensor: motor will stop when main driver board input
2 is low or when 60000 counts/steps are reached: whichever
event comes first