MOTION SEQUENCES EDITION CONTROL Sequence file List of sequences + ® Position type Position (inc) Speed (inc/s ) Acceleration (inc/s2) Deceleration (inc/s2) Outputs (1 to 8) Outputs trigger Start condition (inputs 1 to 8) 0004 Execute this sequence and then jump to sequence Application note

Sequences control using Digital Inputs QINFRANOR Product Sequences available Max Sequences The first way to use motion sequences is by starting them using digital input(s). The idea is to select a sequence number using digital inputs and then start the selected sequence by doing a rising edge on another input. Tthe "Position User Scaling” was set to “360°/turn” in OPTIO parameters for all examples.

Sequences control using Digital Inputs As an example, I configured 3 sequences: 1) Sequence number 0 Type: Homing Homing Type: Method 35 (reset position to 0 without movement) 2) Sequence number 1 Type: Relative Position Target Position: 3600° (10 motor turns) in POSITIVE direction Speed: 3600°/s (600 rpm) Start specific sequences using digital inputs

Sequences control using Digital Inputs OINFRANOR Type: Position Sequence Target Position: 3600° (10 motor turns) in NEGATIVE direction Speed: 3600°/s (600 rpm) Position type Position (deg ) Speed (deg/s) Acceleration (deg/s1) Deceleration ( deg/s:) Outputs trigger Start condition [inputs 1 to 3) End condition (inputs 1 to S) Execute this seauence In this example, I use the following configuration Start specific sequences using digital inputs 4

Sequences control using Digital Inputs OINFRANOR 2.2.1 -Enable Configuration We want the drive to be enabled when the logical input associated with “ENABLE” function (in the example its DIGITAL_INPUT_1) is at high level. STANDARD ADVANCED "ENABLE" configuration ENABLE Control Hardware ENABLE When launching selected sequence using digital IO, the "autostart” mode must be disabled. Each sequence is identified by a number, starting from 0. The SEQ_SEL_X input can be used to select a sequence, using binary representation. With a combination of SEQ_SEL_1, SEQ_SEL_2 and SEQ_SEL_3, you can select up...

Sequences control using Digital Inputs CINFRANOR All the following steps will be done using the “Device Control” window of OPTIO. O OPTIO Drive Assistant by Infranor SAS - Copyright © Infra Current limi 2) Check if there is no error / warning displayed, and the drive is in “Ready to switch on” state: Start specific sequences using digital inputs 6

Sequences control using Digital Inputs OINFRANOR First, the running sequence is “-1”, indicating that no sequence is currently running. Then, when a rising edge is applied on “SEQ_START”, the running sequence will be the “Selected Sequence”, so 2. Sequences can also be chained. For example, sequence n°1 can be launched using digital IO, and at the end of the movement, sequence n°1 can automatically switch to sequence n°2. Refer to chapter 3 for sequences chaining. 2.5 -SEQUENCE INTERRUPTION BY ANOTHER When a rising edge is detected on SEQ_START, the selected sequence will be started immediately,...

Sequences control using Digital Inputs OINFRANOR The second way to use sequences is the “automatic” mode. In this mode, also called “grafcet” mode, the sequence n°0 is called first. Then, other sequence can be called from this sequence, with or without conditions. As an example, I configured 4 sequences: 1) Motion Sequence number 0 Type: Homing Homing Type: Method 35 (reset position to 0 without movement) 2) Motion Sequence number 1 Type: Relative Position Target Position: 3600° (10 motor turns) in POSITIVE direction Speed: 3600°/s (600 rpm) Position type Position ( deg } Speed (deg/s) Acceleration...

Sequences control using Digital Inputs 3) Motion Sequence number 2 Type: Position Sequence Target Position: 3600° (10 motor turns) in NEGATIVE direction Speed: 3600°/s (600 rpm) 4) Motion Sequence number 3 Type: Position Sequence Target Position: 180 ° (0.5 motor turns) in POSITIVE direction Speed: 3600°/s (600 rpm) Start sequences automatically (with input conditions

Sequences control using Digital Inputs OINFRANOR Configure the input conditions on sequences On each Motion Sequence, you can define conditions. If this condition is “True”, you can jump to a chosen sequence after the sequence end. If this condition is “False”, you can jump to another (or the same) sequence. In case of "False” condition, you CANNOT jump immediately to another sequence with INPUT CONDITIONS. You must jump to an empty sequence (buffer) before._ To define these conditions, you must use signals called SEQ_COND_X. These signals must be connected to Digital Inputs (refer to chapter...

Sequences control using Digital Inputs OINFRANOR Note: Empty sequences (n°12 and n°23) are defined like that: We want the drive to be enabled when the logical input associated with “ENABLE” function (in the example its DIGITAL_INPUT_1) is at high level. Also, when the drive the drive is enabled, we will use the “Auto-Start” function to automatically start the sequence n°0. DIGITAL INPUTS STANDARD ADVANCED "ENABLE" configuration Hardware [by using a logical input) ENABLE Control Hardware ENABLE 11 Start sequences automatically (with input conditions)

Sequences control using Digital Inputs 3.3 -SEQUENCE EXECUTION GRAPH Below you will find the graph execution of the running sequences. Start sequences automatically (with input conditions)