Output On Position Toggle Mode

Products: ACR9000, 9030, 9600,9630

The ACR controllers include a hardware-based output-on-position function that allows users to program the controller to fire outputs at sub-microsecond speeds based on encoder position. The outputs are tied directly to the encoder hardware circuitry, resulting in the smallest possible latency for superior accuracy. Because the function is handled by the encoder FPGA, output timing is not affected by program execution timing or multitasking. Outputs can be selected to trigger at fixed position increments or at selected positions based on an array of data. Position-based outputs can be optionally followed by time-based pulses. General information about the feature can be found in this document. The ACR online user guides has detailed descriptions of using the commands along with examples.

The two original modes of operation, OOP RDN and OOP INC fire pulses of a fixed, time based width designated by the user. A new mode, OOP TOG, was added in firmware version 1.25 that allows the user to toggle the output on and off based on array positions. Also added was the command OOPOUT, which allows the user to select which output is assigned to an encoder/OOP. Both of these new commands are described here: OOP TOG and OOPOUT

With OOP TOG the user creates an array of position values. When the axis reaches each position the output will turn on (if currently off) or off (if currently on).

Example:

DIM LA1 : REM dimension one long array
DIM LA0(8) : REM array has 8 positions
OOP 0 BASE LA0
la0(0)=10000 : rem ON
la0(1)=15000 : rem OFF
la0(2)=40000 : rem ON
la0(3)=50000 : rem OFF
la0(4)=60000 : rem ON
la0(5)=80000 : rem OFF
la0(6)=90000 : rem ON
la0(7)=100000 : rem OFF
OOP 0 TOG (0) : REM start the OOP toggle level off
REM OOP is armed, axis is ready for a move command

05-Feb-2013 JW