Operation Theory 73servo driver for users to reset the alarm status.Our motion control-ler provides one general output pin for each axis. Users can usethis pin for reseting servo alarm status.4.4 Mechanical Switch InterfaceWe provide some dedicated input pins for mechanical switcheslike original switch (ORG), plus and minus end-limit switch (?EL),slow down switch (SD), positioning start switch (PCS), counterlatch switch (LTC), emergency stop input (EMG) and counterclear switch (CLR). These switches’ response time is very short,only a few ASIC clock times. There is no real-time problem whenusing these signals. All functions are done by motion ASIC. Thesoftware can just do nothing and only need to wait the results.4.4.1 Original or Home SignalOur controller provides one original or home signal for each axis.This signal is used for defining zero position of this axis. The logicof this signal must be set properly before doing home procedure.Please refer to home mode section for details.4.4.2 End-Limit Switch SignalThe end-limit switches are usually installed on both ending sidesof one axis. We must install plus EL at the positive position of theaxis and minus EL at the negative position of the axis. These twosignals are for safty reason. If they are installed reversely, the pro-tection will be invalid. Once the motor’s moving part touches oneof the end-limit signal, the motion controller will stop sendingpulses and output an ERC signal. It can prevent machine crashwhen miss operation.4.4.3 Slow Down SwitchThe slow down signals are used to force the command pulse todecelerate to the starting velocity when it is active. This signal isused to protect a mechanical moving part under high speed move-ment toward the mechanism’s limit. The SD signal is effective forboth plus and minus directions.
