Detailed Explanation of 200SMART Motion Control Basic Instructions
1. Initialize motion axis commands. An initialization command must be enabled for each axis, and EN and MOD_EN must be always connected (SM0.0).
Done: Initialization complete flag. It is OFF when initialization is in progress and ON when it is complete.
Error: Displays the error code number. For details, open Help to view the motion axis error code.
C_Pos: Current position. In relative pulse mode, the unit is the number of pulses; in engineering units, it is mm, etc. The same applies to other subroutines, and no further explanation is given.
C_Speed: Current speed, in Hz relative to the pulse, and in mm/s for engineering purposes. Similar to other subroutines, no further explanation is needed.
C_Dir: Represents the current direction signal status of the motor, 0 = forward, 1 = reverse.
2. Manual subroutines can be manually run in forward and reverse directions at a specified speed, or they can be jogged in forward and reverse directions according to the JOG speed configured by the wizard.
RUN: When activated, it runs continuously at the speed specified in Speed. Changing the speed during operation will take effect immediately. Activating Dir can switch the running direction (switching during operation has no effect).
JOG_P: Forward jogging, the speed is the jogging speed of the motor jogging point configured in the wizard (JOG_SPEED).
JOU_N: Reverse jitter.
3. Single-segment quantitative pulse transmission subroutine can transmit pulses at a specified speed and quantity, and automatically stop after transmission is completed.
START: Triggers the start of sending a pulse signal. A signal must be sent once when the motion axis is idle. It must be triggered by an edge.
POS: The set quantity; in relative mode, it is the distance; in absolute mode, it is the position.
Speed: Sets the running speed.
Mode: Mode selection, =0 absolute, =1 relative.
Absolute: A reference point (zero point) must be established. All positions are referenced to this point. To move to a certain location, simply set the absolute position at that point. The system will automatically identify the direction and distance traveled based on the current position. This mode is suitable for positioning control. In the diagram below, the current position is at point A. If the position is set to 200, it will automatically move forward to 200. If the position is set to 100, it will automatically move backward to 100.
Relative mode: also known as incremental mode, it does not require establishing a reference point. Each time, it starts from the current position and travels a relative distance, which is inconvenient for positioning control. As shown in the figure below.
Abort: Triggers a stop command. When ON, it commands the motion axis to decelerate until it stops.
Done: Pulse transmission end flag. It is OFF when pulse transmission is in progress and ON when pulse transmission stops. Stopping midway for other reasons will also trigger the Done action, so it may not necessarily indicate reaching the set position.
4. Multi-segment quantitative curve motion. The curves can be pre-configured in the wizard, either as absolute or relative curves, and then the configured curve number (starting from 0) can be called using this command. Up to 32 curves can be configured, and each curve can have 16 steps. The direction of each step must be consistent; otherwise, an error will occur.
5. Searching for RPS reference points. Before performing absolute positioning, reference points need to be established. There are two types of reference points: one is an actual reference point where RPS signals exist, and the other is an internally defined virtual reference point. Enabling RSEEK will search for RPS reference points according to the search speed, direction, and search order configured in the wizard.
6. Internally creates virtual reference points. Suitable for situations where it is inconvenient to set a fixed reference point. Enabling LDPOS will change the current position to the specified New_POS, which can be used to create virtual reference points or change the current position.
7. Set the current position to remain unchanged even after power failure. The two program segments must not be reversed, otherwise it will not work.
8. Reload the configuration. You can use CFG to refresh any configuration-related parameters; otherwise, the changes may not take effect.
