UIrobot UIM2842 User Manual page 44

UIM2842
There are 8 sensor events that can be configured, as listed below:
Table8-1: Sensor Events
No. Sensor Events
1
S1 Falling Edge
2
S1 Rising Edge
3
S2 Falling Edge
4
S2 Rising Edge
5
S3 Falling Edge
6
S3 Rising Edge
7
Exceeding the Upper Limit
8
Exceeding the Lower Limit
There are 14 actions that can be furthermore bound to sensor events:
•
Start and run forwardly at preset-speed and acceleration
•
Start and run reversely at preset-speed and acceleration
•
Change direction and run at preset-speed and acceleration
•
Forword displacement control follow the preset motion parameters (speed,
displacement, acceleration)
•
Reverse displacement control follow the preset motion parameters (speed,
displacement, acceleration)
•
Direction-change displacement control follow the preset motion parameters (speed,
displacement, acceleration)
•
Decelerate at preset deceleration until stop
•
Emergency stop
•
Reset position and encoder counter
•
Reset position and encoder counter + Reverse displacement control follow the preset
motion parameters (speed, displacement, acceleration)
•
Reset position and encoder counter + Decelerate at preset deceleration until stop
•
Reset position and encoder counter + Emergency stop
•
Execute the preset interrupt program
•
Off
Page 44
Description
S1 Voltage Level Change, High >>>Low
S1 Voltage Level Change, Low >>>High
S2 Voltage Level Change, High >>>Low
S2 Voltage Level Change, Low >>>High
S3 Voltage Level Change, High >>>Low
S3 Voltage Level Change, Low >>>High
Analog input voltage is higher than user defined upper limit
Analog input voltage is lower than user defined lower limit
M4220170607EN UI Robot Technology Co. Ltd.