SMAC CBC-EIP, User Manual, Page: 19 / 42

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3.2 Softland
T his AOI is used to perform SMAC’s softland.
Softland Move AOI: input and output parameters
Parameter Unit Description
IN
P
UI
T
Done bit N/A This bit is active when the target position has
been reached.
Soft landed Position Counts Position of the actuator after softland action
Busy bit N/A This bit is active when the AOI is being
executed, until the Done bit is active
OUTPU
T
Soft land direction N/A 0-positive direction 1- negative direction
Soft land action N/A This bit is used to specify the action of the
actuator after softland operation
1: Apply force
2: Hold force
3: Hold position
4: Motor off
Soft land velocity Counts/s Max. velocity of the motion profiler
Soft land acceleration Counts/s
2
Max. acceleration of the motion profiler
Soft land sensitivity Counts This tag is used to set the sensitivity of softland.
Smaller value means higher sensitivity.
Max Torque ‰ of motor
rated current
Max. permissible torque/force. Unless this
parameter is specified, the default value from
config. file is used.
Enable bit N/A Enables the AOI. Tis needs to be included in the
program after the AOI rung is energized.