User guide

Output-On-
Stall
Multi-Axis
Stop
CHAPTER 4. APPLICATION DESIGN 59
You can select the Output-on-Stall function with the Turn on
Output # 1 on Stall Detect (FSE) command. This is useful for
signaling other components in your system that a stall has
occurred.
If you
enter the FSE 1 command. the AX programmable Output
# 1 goes on (current flows) when a stall is detected and remains
on untn a new move begins. ThIs command is valid only jf
the Stall Detection has been enabled (FSB 1), and jf the AX is
set to Encoder Step Mode (FSB1).
Command
MN
FSB1
OW10
FSH1
FS01
FSE1
A2
V.1
012800
G
Description
Sets the system in the preset mode
Enables encoder mode
Selects backlash to be 10 motor steps
Enables stall detect function
Stops motor if a stall is detected
Turns on Output 1 if stall is detected
Sets acceleration to 2 revs/sec
2
Sets velocity to 0.1 rps
Sets distance to 12,800 encoder steps
Execute the move (Go)
While the motor is moving. you can cause a stall by holding
the shaft. If you can not manually stall the motor, you can
Simulate a stall by carefully disconnecting the +5V encoder
lead from
pin # 1 on the AX encoder connector. When the stall
occurs,
Output 1 Is turned on and the motor stops (this signals
you
that the motor has stalled). The motor will come to a stop.
On a multi-axis AX system, you may wish to have all axes
stop motion jf a stall is detected on any axis. You can select
this function via the Kill Motion on Trigger 3 (FSF) command.
When selected with the FSFI command, a signal on the
Trigger 3 input terminates the move immediately, thus
functioning as a remote stop input.
Follow the following steps to set up your AX system to
terminate the multi-axis moves when a stall is detected on
any axis:
1. Set the first AX unit to Turn on Output 1 on Stall (FSE1)
2. Connect Output 1 (pin 15) on the first AX unit to Trigger 3
(pin
11) on all the other AX units in the daisy-chain.