Elmo HARmonica, HARSFEN0602 software manual 128, Stepper mode Unit mode

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limiting the rate reference change to SD counts/sec2.

When the Stop Manager stops the motor due to a switch action, the reference generator is replaced by zero command at the input to the Stop Manager. The Stop Manager uses the SD parameter to decelerate the motor command from the output of the reference generator to complete stop.

When the switch action terminates (for example a "Stop" switch is released) the Stop- Manager uses the SD acceleration to recover the speed command to the output of the reference generator.

Note the following:

1.The Stop-Manager must limit the speed command to the range [LV[2]..HV[2]]. Although both the software speed command and the external speed command are each limited to the legal range, their sum may be out of range.

2.When the stop manager stops the command to the speed controller, it does not affect the reference generator. The reference generator continues to behave normally. When the switch action is over, the Stop-Manager will try to recover the speed controller command to the output of the reference generator.

3.The Stop-Manager limits the decelerations and the accelerations due to abrupt changes of the auxiliary reference. The SD parameter is the only acceleration limiter for the auxiliary input. The AC and the DC parameters are only relevant to software commands.

4.When AC and DC are greater than SD, they become irrelevant, since SD will limit the acceleration lower.

5.The IL[N] command can program a variety of "Stop" options to an input pin. A pulse at the pin can be directed to the stop manager as in the example below, stop the software reference generator, or both.

Example:

Let, SD=100000,MO=1,AC=10000,DC=10000,JV=5000,BG;

At the time of 0.2sec, a switch programmed as hard-stop is activated, and released at the time of 0.4 sec.

The following waveforms result:

5000
4500
4000	Command generator
	output
3500
3000
2500			Command to the speed
2000			controller
1500
1000	Stop switch
500	active
0
0	0.2	0.4	0.6	0.8	1

When the stop switch is applied, the speed command is brought to complete stop, decelerating with 100000 counts/sec2. When the switch is released, the acceleration of 100000 counts/sec2 is used to recover the output of the reference generator.

11.3 The stepper mode: Unit mode 3

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