SMAC
LAC-26 Technical Reference Manual
4/29/2013 32
Command:
aSEn
-- Set Maximum Following Error --
Argument:
0 <= n <= 16,383
Default:
16,383
This command
is used to set the maximum allowable
following error (difference
between
the actual
position
and the optimal position) for servo axis
'a'. If the following
error exceeds the
programmed value,
the servo will be turned off (except in the case of the related interrupt being
enabled) and the Error bit in the status word for axis 'a' will
be set. This bit will remain set until the
servo is turned back on with the Motor On (MN) command.
Related Commands: DB, TF
Command:
aST
-- Stop Motion --
This command is used to terminate motion on servo axis 'a'. This command differs from the Abort
(AB) command in that the servo will decelerate at its preset rate instead of stopping abruptly. When in
Torque Mode, the outputs will be set to null.
Related Commands: AB, WS
Command:
aVM
-- Enter Velocity Mode --
Default:
Position mode
This command
places servo axis 'a' in the Velocity
Mode
of operation. In
this mode,
the
servo can be commanded to move in either direction to a maximum velocity. The servo will move in that
direction until commanded to stop. When using Velocity Mode, the user must specify the direction for the
servo to move using the Direction (DI) command. After specifying the desired maximum velocity and the
desired direction and placing the servo in velocity mode, the servo can be started by issuing the Go (GO)
command. While the servo is moving in Velocity Mode, the user can change the velocity by issuing new
Direction (DI) and/or Set Velocity (SV) commands. The acceleration rate at which the servo's velocity will
change, is determined by the Set Acceleration (SA) command. The acceleration can also be changed at
any time.
Related Commands: EG, QM, PM
