dis/enable motor outputs on digital input
7 years 8 months ago #29530965
by nightline
dis/enable motor outputs on digital input was created by nightline
Gents,
I want to disable the motor outputs of a SDC2160 controller when Din 1 is high.
To perform this I've set the action on Din 1 in the configuration tab to "run script"
The normal motor functions are closed loop tracking.
This is the script which I wrote:
'this program runs when DIN1 is high and disables both motor channels
top:
DisableInput = getvalue(_DIN, 1)
if (DisableInput = 1 )then
setcommand(_GO, 1, 0) ' Apply the command
setcommand(_GO, 2, 0) ' Apply the command
else
terminate
end if
wait(10)
goto top ' Repeat indefinitely every 10ms
My questions are:
Will this program disable any motor action when Din 1 is high, and will the controller resume the normal function when Din 1 is low?
Thanks in advance!
Jack
I want to disable the motor outputs of a SDC2160 controller when Din 1 is high.
To perform this I've set the action on Din 1 in the configuration tab to "run script"
The normal motor functions are closed loop tracking.
This is the script which I wrote:
'this program runs when DIN1 is high and disables both motor channels
top:
DisableInput = getvalue(_DIN, 1)
if (DisableInput = 1 )then
setcommand(_GO, 1, 0) ' Apply the command
setcommand(_GO, 2, 0) ' Apply the command
else
terminate
end if
wait(10)
goto top ' Repeat indefinitely every 10ms
My questions are:
Will this program disable any motor action when Din 1 is high, and will the controller resume the normal function when Din 1 is low?
Thanks in advance!
Jack
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- roboteq
7 years 8 months ago #29530966
by roboteq
Replied by roboteq on topic dis/enable motor outputs on digital input
First, it is best that you have the script run continuously (ie not started by changes in Dinput)
Then, your script will send a command to the motors to go to 0. That will stop them.
Then, your script will send a command to the motors to go to 0. That will stop them.
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7 years 8 months ago #29530967
by nightline
Replied by nightline on topic dis/enable motor outputs on digital input
Well actually I want to stop the motors.
The controller is in use for an electric vehicle steering. When there is no driving command for more than 3 sec. I send a digital signal to this steering controller to stop steering.
First I used the Safety Stop function, but this needs specific commands from the joystick signal to stop this function.
That's why I'll try it this way.
Why should this program run continuously?
Jack
The controller is in use for an electric vehicle steering. When there is no driving command for more than 3 sec. I send a digital signal to this steering controller to stop steering.
First I used the Safety Stop function, but this needs specific commands from the joystick signal to stop this function.
That's why I'll try it this way.
Why should this program run continuously?
Jack
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7 years 8 months ago #29530973
by TechSupport
Replied by TechSupport on topic dis/enable motor outputs on digital input
This terminate function means that the script terminates. That means when the script stops running, then the Digital input 1 no longer does what is called in the script. So when the script stops and you engage D1, then nothing will happen, except that the input will just go high with no functionality.
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7 years 8 months ago #29530974
by nightline
Replied by nightline on topic dis/enable motor outputs on digital input
But the function of Din 1 in the configuration Tab is set to "run script", so this should enable the script program again isn't?
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7 years 8 months ago #29530975
by TechSupport
Replied by TechSupport on topic dis/enable motor outputs on digital input
Your script tells it to disable the motor output by sending the commands to 0.
So when your script terminates, you have to re-enable the script again which you are doing via digital input 1 again. That would also likely trigger the motor output to stop again at the same time it is being pressed.
By having the script constantly running, there would be no reason to re-enable your script to have the motor commands be sent back to 0.
If at all anything in closed loop mode for sending the motors to stop, it would be better to send the controller to open loop mode.
Then send the commands to 0.
So when your script terminates, you have to re-enable the script again which you are doing via digital input 1 again. That would also likely trigger the motor output to stop again at the same time it is being pressed.
By having the script constantly running, there would be no reason to re-enable your script to have the motor commands be sent back to 0.
If at all anything in closed loop mode for sending the motors to stop, it would be better to send the controller to open loop mode.
Then send the commands to 0.
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7 years 8 months ago - 7 years 8 months ago #29530976
by TechSupport
Replied by TechSupport on topic dis/enable motor outputs on digital input
top:
DisableInput = getvalue(_DIN, 1)
if (DisableInput = 1 )then
'Ensure motors will stop
setconfig(_MMOD, 1, 0) ' sets motor 1 to open loop mode
setconfig(_MMOD, 2, 0) ' sets motor 2 to open loop mode
setcommand(_GO, 1, 0) ' Apply the command
setcommand(_GO, 2, 0) ' Apply the command
else
Switch back to closed loop mode
setconfig(_MMOD, 1, nn)
setconfig(_MMOD, 2, nn)
end if
wait(10)
goto top ' Repeat indefinitely every 10ms
You will need to replace the nn with the actual mode.
1 - speed
2 - position relative
3 - count position
4 - position tracking
5 - torque
6 - speed position
DisableInput = getvalue(_DIN, 1)
if (DisableInput = 1 )then
'Ensure motors will stop
setconfig(_MMOD, 1, 0) ' sets motor 1 to open loop mode
setconfig(_MMOD, 2, 0) ' sets motor 2 to open loop mode
setcommand(_GO, 1, 0) ' Apply the command
setcommand(_GO, 2, 0) ' Apply the command
else
Switch back to closed loop mode
setconfig(_MMOD, 1, nn)
setconfig(_MMOD, 2, nn)
end if
wait(10)
goto top ' Repeat indefinitely every 10ms
You will need to replace the nn with the actual mode.
1 - speed
2 - position relative
3 - count position
4 - position tracking
5 - torque
6 - speed position
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7 years 8 months ago #29530979
by nightline
Replied by nightline on topic dis/enable motor outputs on digital input
I'll try this program, see how it works out.
Thanks!
Thanks!
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7 years 8 months ago #29530980
by nightline
Replied by nightline on topic dis/enable motor outputs on digital input
Today I downloaded the script to the controller, and it's working fine! Thanks!
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