Table of Contents
Advertisement
ESTALL
Encoder-Based Stall Detection
Type
Encoder Configuration
Syntax
<a_><!>ESTALL<b>
Units
n/a
Range
b = 0 (disable) or 1 (enable)
Default
0
Response
ESTALL:
*ESTALL0
See Also
[ AS ], DRES, DSTALL, ENCCNT, [ ER ], ERES, ESDB, ESK, TAS,
TER
The
command determines if encoder-based stall conditions will be checked. (For information
ESTALL
about Drive Stall Detection; which does not require an encoder, refer to the
NOTE: Encoder count reference must be enabled (
used.
A stall condition will occur if the actual number of encoder counts received is less than expected for each
motor step output segment. The number of encoder counts expected is determined by dividing the encoder
resolution (
) by 100. The motor step output segment is determined by dividing the drive resolution
ERES
(
) by 50.
DRES
For example, given an encoder resolution (
number of encoder counts expected for each motor step output segment =
25000
output segment =
=
500
50
drive checks to see if it received 40 encoder counts. If it did, then everything is O.K. If not, then a stall
condition exists.
To accurately detect a stall, the drive resolution (
When a stall is detected, the GT6K responds as follows:
• The stall is reported with Axis Status bit #12 (reported with
• The stall is reported with Extended Axis Status bit #17 (reported with
• If error-checking bit #1 is enabled (
- The stall is reported with Error Status bit #1 (reported with
- The GT6K branches to the assigned ERRORP program.
• If the Kill-on-Stall feature is enabled (
sent to the motor. If Disable Drive on Kill is enabled (
Example:
SCALE0
; Disable scaling
DEL proga
; Delete program called proga
DEF proga
; Begin definition of program called proga
DRES25000
; Drive resolution set to 25000 steps/rev
ERES4000
; Encoder resolution is 4000 post-quadrature counts/rev
ESDB10
; Stall backlash set to 10 commanded counts
ENCCNT1
; Enable encoder count reference mode
ESTALL1
; Enable stall detection
ESK1
; Enable kill on stall
MA0
; Incremental positioning mode
MC0
; Preset positioning mode
A10
; Set the acceleration to 10 units/sec/sec
V1
; Set the velocity to 1 unit/sec
D100000
; Set the distance to 100000 units
GO1
; Initiate motion
; The motor will move 100000 commanded counts (4 revs)
; (If, at any time during the move the actual encoder count falls
; behind, a stall condition will be flagged, and motion will stop.)
END
; End definition of proga
ENCCNT1
) of 4000 and a drive resolution (
ERES
. Therefore, during a move, after every 500 motor steps are sent out, the
) and the encoder resolution (
DRES
ERROR.1-1
), the GT6K immediately stops pulses from being
ESK1
www.comoso.com
command.)
DSTALL
) before encoder stall detect (
) of 25000, the
DRES
4000
=
. The motor step
40
100
ERES
,
, and
TAS
TASF
,
TASX
):
,
, and
TER
TERF
) it disables the drive.
KDRIVE1
Command Descriptions
Product
Rev
GT6K
6.0
GV6K
n/a
(applicable only to
stepper axes)
) can be
ESTALL
) must be properly set.
).
AS
, and
).
TASXF
ASX
).
ER
125
Advertisement
Table of Contents
