Bosch 6000 User's Guide download pdf (Page 124)

Chapter 3. Basic Operation Setup

109

Input Debounce

Time

Using the Input Debounce Time (INDEB) command, you can change the input debounce time

for all general-purpose inputs (one debounce time for all), or you can assign a unique debounce

time to each of the 2 trigger inputs.

General-Purpose Input Debounce: The input debounce time for the 24 general-

purpose inputs is the period of time that the input must be held in a certain state

before the controller recognizes it. This directly affects the rate at which the inputs

can change state and be recognized.

Trigger Input Debounce: For trigger inputs, the debounce time is the time required

between a trigger's initial active transition and its secondary active transition. This

allows rapid recognition of a trigger, but prevents subsequent bouncing of the input

from causing a false position capture.

Triggers: Non-debounced state used for conditional statements

If you use the ONIN command or if you use the status of programmable inputs

(IN comparison operator) as the condition for an IF, GOWHEN, or WAIT statement

(e.g., IF(IN.3=b1)), it is the non-debounced state that is recognized.

Therefore, rapid transitions as fast as one system update period (2 ms for

steppers, see SSFR table for servos) will be noticed by these statements.

The INDEB command syntax is INDEB,. The first is the input number (see

page 107 for input bit assignments) and the second is the debounce time in even

increments of milliseconds (ms). The debounce time range is 1-250 ms. The default

debounce time is 4 ms for the general-purpose inputs, and 24 ms (servos) or 50 ms (steppers)

for the trigger inputs.

If the first is in the range corresponding to general-purpose inputs (e.g., input numbers

1-24 for the AT6400), the specified debounce time is assigned to all general-purpose inputs. If

the first is in the range corresponding to the trigger inputs (e.g., input numbers 25-28 for

the AT6400), the specified debounce is assigned only to the specified trigger input. For

example (AT6400), the INDEB5,6 command assigns a debounce time of 6 ms to all 24

general-purpose inputs. The INDEB26,12 command assigns a debounce time of 12 ms only

to input #26, which is trigger B (TRG-B).

No Function

(INFNCi-A)

When an input is defined as a No Function input (default function), the input is used as a standard

input. You can then use this input to synchronize or trigger program events.

Example

DEL prog1 ; Precaution: Delete a program before defining it

DEF prog1 ; Begin definition of program prog1

INFEN1 ; Enable input functions

INFNC1-A ; No function for input 1

INFNC2-A ; No function for input 2

INFNC3-D ; Input 3 is a stop input

A10 ; Set acceleration

V10 ; Set velocity

D5 ; Set distance

WAIT(IN=b1XX) ; Wait for input 1

GO1 ; Initiate motion

IF(IN=bX1) ; If input 2

1TFB ; Transfer feedback device position for axis 1

NIF ; End IF statement

END ; End definition of program prog1

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Bosch 6000 User's Guide Page 124

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