Machinekit Documentation

HAL Component — INDEXTABLEV2

INSTANTIABLE COMPONENTS — General

All instantiable components can be loaded in two manners

Using loadrt with or without count= | names= parameters as per legacy components
Using newinst, which names the instance and allows further parameters and arguments
primarily pincount= which can set the number of pins created for that instance (where applicable)

NAME

indextablev2 —

SYNOPSIS

*Driving an index (table) by means of specifying the desired position. An index switch detects the correct signal to stop. *

USAGE SYNOPSIS

*Driving an index (table) by means of specifying the desired position. An index switch detects the correct signal to stop. *

DESCRIPTION

This component can be connected to a Frequency Inverter for use with for example an indexing table.

Internally there is a small state machine with the following states: 0 = disabled 1 = inactive 2 = start index table 3 = moving 4 = home indextable

The state is disabled by default, and setting the enable pin will put the state machine tin the inactive state.

From the inactive state we can start moving the table by setting the target position with the index-cmd pin. After setting the target the component needs a high edge of the start pin. With this the component moves to the start index table state.

Also increasing/decreasing one position with pulse-inc and pulse-dec and setting the current position index-fb to the target value of index-cmd by means of home can be done from the inactive state.

When there is a combination of pulse=inc, pulse-dec, home and start the order of precedence is as follows: 1 : start 2 : home 3 : pulse-dec 4 : pulse-inc

FUNCTIONS

indextablev2.N.funct ( OR <newinstname>.funct (requires a floating-point thread) )

Machinekit