Intelligent Motion Systems 17 manual Stall Detection Mode Variable Encoder Variable

Page 61

MNEMONIC	FUNCTION	TYPE
SF	Stall Factor Variable	Encoder Variable

DESCRIPTION

If the encoder is enabled (EE = 1) and the encoder differs from the motor by more than the specified factor, a STALL is indicated. If SM is set to 0, then the motor will be stopped when a STALL is detected.

USAGE	UNITS	RANGE	DEFAULT
SF=<counts>	Encoder counts	0 to 65000	10

EXAMPLE:
SF=20	‘Set the stall factor to twenty counts. If the motor falls behind by more than 20 encoder counts a stall is detected.

RELATED COMMANDS: EE, SM, ST

MNEMONIC	FUNCTION	TYPE
SL	Slew Axis Instruction	Motion Instruction

DESCRIPTION

The SL instruction will slew the axis at the specified velocity in counts per second. The axis will accelerate at the rate specified by the A (Acceleration) variable.

Note that the maximum slew velocity is independant of the maximum velocity specified by the VM variable. If a slew is commanded at a velocity greater than the setting of VM, the axis will accelerate to that velocity regardless of the setting of VM.

USAGE	UNITS	RANGE
SL <±velocity>	± Counts per sec	±5000000

EXAMPLE:
SL=20000	‘slew the axis at 20000 counts/sec

RELATED COMMANDS: A, D, MS, MR

MNEMONIC	FUNCTION		TYPE
SM	Stall Detection Mode Variable		Encoder Variable

DESCRIPTION

The SM variable specifies the action which will be taken by the MDrive Motion Control when a stall is detected. When set to 0 (default) the motion will be stopped upon a stall detection. When SM=1, the motor will continue to move. In either case ST (Stall Flag) will be set.

USAGE	DEFAULT
SM = <0/1>	0 (Stop Motor)

EXAMPLE:
SM=0	‘stop motor when a stall is detected
SM=1	‘do not stop motor upon a stall

RELATED COMMANDS: EE, SF, ST

59

Image 61

Contents Operating Instructions Intelligent Motion Systems, Inc All Rights Reserved Table of Contents List of Figures Part 1 General Information and Hardware Specifications Intentionally Left Blank A t u r e S u m m a r y C t i o n O v e r v i e w T a r y M o t o r Specification sStandard Rotary Motor Lmax Control Knob LMAX2MDI1715 N e a r M o t o r Specification sMDI1719 E e d F o r c e C u r v e 2 4 V D C MDI17 Linear ActuatorE e d F o r c e C u r v e 4 5 V D C R i v e 1 7 M o t i o n C o n t r o l a C M E S c r e w N e r a l Specification sMDI17 Acme Screws W e r S u p p l y R e q u i r e m e n t s E r m a l Specification sC o m m e n d e d I M S P o w e r S u p p l i e s A t u r e S u m m a r y MDI2218 MDrive23 Motion Control SpecificationsMDI2231 MDI2222Refer to .10 for screw pitch information MDI23 Linear ActuatorMDI23 Acme Screws R i v e 2 3 M o t i o n C o n t r o l a C M E S c r e wIP404MDI23 Page Intentionally Left Blank Y o u t a n d I n t e r f a c e G u i d e l i n e s Connector P1N C o n f i g u r a t i o n a n d D e s c r i p t i o n s C o m m e n d e d W i r i n gT e r f a c i n g P o w e r Connector P2 10 Pin HeaderT e r f a c i n g R S 4 8 5 C o m m u n i c a t i o n s N g l e M D r i v eRS-485 Interface, Multiple MDrive Motion Control System E s o f t h e D i g i t a l I / O T e r f a c i n g t h e D i g i t a l I / OT e r f a c i n g I n p u t s Input FunctionsTruth Table I/O Used as a Group TTL Interface to Input GroupT e r f a c i n g a S i n g l e O u t p u t E x a m p l e s T e r f a c i n g O u t p u t sM p l e U s a g e T e r f a c i n g t h e a n a l o g I n p u tInstallation Install i n g a n d U s i n g I M S Te r m i n a lS t e m R e q u i r e m e n t s I n g t h e I M S Te r m i n a l S o f t w a r e 13 IMS Terminal Upgrader Window E r a t i o n a l M o d e s R i v e M o t i o n C o n t r o l P r o g r a m m i n gS t r u c t i o n s R i a b l e sY w o r d s A g sT i o n C o m m a n d s T h F u n c t i o n sC o m m a n d s Read IO1 Setup PR S1 Read IO2 Setup PR S2Please Note Any program labeled SU will execute on power-up VAR CT Baud Mnemonic Function Unit Range Syntax ExampleI n s t r u c t i o n s , Va r i a b l e s a n d F l a g s T h e m a t i c a l F u n c t i o n s Symbol FunctionAcceleration Motion Variable Baud Rate Setup VariableRetrieve All Parameters Variable Busy Flag Read Only Motion Flag Branch Program InstructionCall Subroutine Program Instruction Set Counter 2 Encoder Counts Motion VariableClear Program Program Instruction D1-D5 Digital Input Filtering Variable Set Encoder Deadband Setup VariableDeceleration Motion Variable Device Name Setup Variable Drive Enable Flag Setup FlagEnd Program Execution Program Instruction Echo Mode Flag Setup Flag Encoder Enable Flag Setup FlagRead-Only Error Flag Status Flag Execute Program Program Instruction Error Number Variable Status VariableHold Current Setup Variable Home to Index Mark Variable Setup VariableHold Program Execution Program Instruction Hold Current Delay Time Setup Variable Home to Home Switch Variable Setup VariableRead Input Variable Read Encoder Index Mark Variable Read Analog Input VariableIncrement Variable Program Instruction Read Inputs 1-4 As 1 Value Variable Joystick Enable Flag Setup FlagInitialize Parameters Instruction List Program Space Instruction Lock User Program Setup FlagLabel Program/Subroutine Instruction Move To Relative Position Motion Instruction Motion InstructionPR MS Microstep Resolution Motion VariableOn Error Handler Instruction Motor Settling Delay Time Motion VariableO1 O4 Set/Print Output Logic State Variable Set/Print Position Counter Instruction Set Ouputs 1-4 As 1 Value VariableEnter/Exit Program Mode Program Instruction Postition Maintenance Enable Setup FlagPrint Selected Data/Text Instruction Pause Program Instruction Party Mode Enable Flag Setup FlagR1 R4 User Registers User Variable Run Current Setup VariableReturn From Subroutine Instruction Resume Program InstructionSave to EEProm Instruction Set/Print I/O Point Instruction S1 S4 Set/Print I/O Point Type/Active State InstructionEncoder Variable Stall Detection Mode Variable Encoder VariableRead Only Stall Flag Encoder Flag Trip Enable Flag Setup FlagTrip on Input Variable Trip on Position Variable Upgrade Firmware InstructionRead User Variables Create User Variable Name Instruction Read Only Velocity Variable Motion VariableRead Only Firmware Version Factory Variable Appendix a Errors Error Code FaultData Errors Program ErrorsTWENTY-FOUR Month Limited Warranty Western Region