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the motor to slew until a transition is detected in the logic state of the Home input. The motor will
accelerate at the rate specified by the command, AC, up to the slew speed. After detecting the
transition in the logic state on the Home Input, the motor will decelerate to a stop at the rate specified
by the command DC. After the motor has decelerated to a stop, it switches direction and approaches
the transition point at the speed of 256 counts/sec. When the logic state changes again, the motor
moves forward (in the direction of increasing encoder count) at the same speed, until the controller
senses the index pulse. After detection, it decelerates to a stop and defines this position as 0. The
logic state of the Home input can be interrogated with the command MG _HMX. This command
returns a 0 or 1 if the logic state is low or high (dependent on the CN command). The state of the
Home input can also be interrogated indirectly with the TS command.
For examples and further information about Homing, see command HM, FI, FE of the Command
Reference and the section entitled 'Homing' in the Programming Motion Chapter of this manual.
Abort Input
The function of the Abort input is to immediately stop the controller upon transition of the logic state.
NOTE: The response of the abort input is significantly different from the response of an activated
limit switch. When the abort input is activated, the controller stops generating motion commands
immediately, whereas the limit switch response causes the controller to make a decelerated stop.
NOTE: The effect of an Abort input is dependent on the state of the off on error function (OE) for
each axis. If the Off On Error function is enabled for any given axis, the motor for that axis will be
turned off when the abort signal is generated. This could cause the motor to 'coast' to a stop since it is
no longer under servo control. If the Off On Error function is disabled, the motor will decelerate to a
stop as fast as mechanically possible and the motor will remain in a servo state.
All motion programs that are currently running are terminated when a transition in the Abort input is
detected. For information on setting the Off On Error function, see the Command Reference, OE.
Reset Input
Bringing the reset inputs low is equivalent to power cycling the controller.
Auxiliary Encoder Inputs
The auxiliary encoder inputs can be used for general use. The controller has one auxiliary encoder and
each auxiliary encoder consists of two inputs, channel A and channel B. The auxiliary encoder inputs
are mapped to the inputs 81-92.
Each input from the auxiliary encoder is a differential line receiver and can accept voltage levels
between +/- 12Volts. The inputs have been configured to accept TTL level signals. To connect TTL
signals, simply connect the signal to the + input and leave the - input disconnected. For other signal
levels, the - input should be connected to a voltage that is ½ of the full voltage range (for example,
connect the - input to 6 volts if the signal is a 0 - 12 volt logic).
Example:
A CDS-3310 has one auxiliary encoder. This encoder has two inputs (channel A and channel B).
Channel A input is mapped to input 81 and Channel B input is mapped to input 82. To use this input
for 2 TTL signals, the first signal will be connected to AA+ and the second to AB+. AA- and AB-
will be left unconnected. To access this input, use the function @IN[81] and @IN[82].
i
CDS-3310
Chapter 3 Connecting I/O
21
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