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UIM2842
8.6 Sensor Input Control Register S12CON
S12CON（Sensor 1/2 Control）defines the binding relationship between S1 and S2
sensor events and actions, as well as the activation of corresponding RTCNs. It is a 16bits
register inside the controller, and can be configured using the instruction SCF. When
writing to it user needs to affix a 4bits suffix-code to point to this register. For details of SCF,
please refer to chapter 11.
The suffix-code for S12CON is 0000 (binary). S12CON structure is as follows:
Bit
15
14
13
S2RACT
Defination
Bit 15-12 S2RACT<3:0> S2 Rising-edge Action
Bit 11-8 S2FACT<3:0> S2 Falling-edge Action
Bit 7-4
S1RACT<3:0> S1 Rising-edge Action
Bit 3-0
S1FACT<3:0> S1 Falling-edge Action
The binding relationship between S1 and S2 sensor events and actions is as follow:
ACT Code
Action
（binary）
N/A
0000
N/A
0001
Start and Run Reversely
0010
Decelerate until Stop
0011
Emergency Stop
0100
Reverse Displacement Control
0101
Reset position
0110
Reset position + Dispalcement Control
0111
Execute preset interrupt program*
1000
Direction-change displacement control
1001
Start and Run Forwardly
1010
Reset position + Decelerate until Stop
1011
Reset position + Emergency Stop
1100
Forward Displacement Control
1101
Change direction and run
1110
OFF
1111
Note: *The version of controller firmware is required 1302.
8.7 Sensor Input Control Register S34CON
S34CON（Sensor3 / Port4 Control）defines the binding relationship between S3 sensor
events and actions, as well as the activation of corresponding RTCNs. It is a 16bits register
inside the controller, and can be configured using the instruction SCF. When writing to it
user needs to affix a 4bits suffix-code to point to this register. For details of SCF, please
refer to chapter 11.
In addition, S34CON is also used to configure the TTL output port and the events that drive
the output level. In this chapter, only the S3 related configuration is described.
The suffix-code for S34CON is 0001 (binary). S34CON structure is as follows:
Bit
15
14
13
STALL
Defination
Page 48
12
11
10
9
8
S2FACT
12
11
10
9
P4LVL
P4EVENT
M4220170607EN
7
6
5
4
S1RACT
RTCN or Not
No RTCN (Ignore MCFG<S2IE><S1IE>)
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
Depends on MCFG<S2IE><S1IE>
8
7
6
5
4
S3RACT
UI Robot Technology Co. Ltd.
3
2
1
0
S1FACT
3
2
1
0
S3FACT
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