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) )
PINS
AUTHOR
Bas de Bruijn
LICENCE
GPL