Command Descriptions
189
LHAD
Hard Limit Deceleration
Type
Limit
(End-of-Travel)
Syntax
<a_><!>LHAD<r>
Units
r = units/sec/sec
(linear motors: see DMEPIT for linear/rotary conversion)
Range
0.0001 – 9999.9999
Default
100.0000
Response
LHAD: *LHAD100.0000
See Also
AD, DMEPIT, DRES, INFNC, INLVL, K, [ LIM ], LIMEN, LIMFNC,
LIMLVL, LH, LHADA, LS, LSAD, LSADA, LSNEG, LSPOS, SCALE, SCLA,
TLIM
Product Rev
GT6K 6.0
GV6K 6.0
The
LHAD
command determines the value at which to decelerate after a hardware end-of-travel limit has
been hit.
The “end-of-travel limit” functions are assigned with the
LIMFNC
command to the onboard limit inputs on the
DRIVE I/O
connector; or with the
INFNC
command to onboard or external inputs. The factory default
LIMFNC
assignments on the
DRIVE I/O
connector are as follows (but any of the three limit inputs, five general purpose
inputs or inputs on external I/O bricks could be re-assigned as end-of-travel inputs):
Limit # Pin #
GT6K & GV6K Function (
LIMFNC
default
)
1
28
LIMFNC1-R
(Positive end-of-travel limit)
2
29
LIMFNC2-S
(Negative end-of-travel limit)
3
31
LIMFNC3-T
(Home limit)
UNITS OF MEASURE
and
SCALING
: refer to page
16
.
When a drive fault, a Kill command (
K
,
!K
, or
^K
), or a Kill input (
INFNCi-C
) occurs, motion is stopped at
the rate set with the
LHAD
and
LHADA
commands. However, if the
Disable Drive on Kill
mode is enabled
(
KDRIVE1
), the drive is immediately shut down upon a Kill command or Kill input and allows the
motor/load to
freewheel
to a stop without a controlled deceleration.
The hard limit deceleration remains set until you change it with a subsequent hard limit deceleration
command. Decelerations outside the valid range are flagged as an error, with a message
*INVALID
DATA-
FIELD
x
, where
x
is the field number. When an invalid deceleration is entered the previous deceleration
value is retained.
Example:
Refer to the hard limit enable (
LH
) command example.
LHADA
Hard Limit Average Deceleration
Type
Motion
(S-Curve)
Syntax
<a_><!>LHADA<r>
Units
r = units/sec/sec
(linear motors: see DMEPIT for linear/rotary conversion)
Range
0.0001 – 9999.9999
Default
100.000 (Default is a constant decel ramp, where LHADA tracks
LHAD. S-curve decel is achieved when LHADA is changed
independent of LHAD. To restore a constant decel ramp and
tracking, set AA = 0.)
Response
LHADA: *LHADA100.0000
See Also
AD, ADA, INFNC, K, LHAD, LIMFNC, LIMLVL, SCALE, SCLA
Product Rev
GT6K 6.0
GV6K 6.0
The
LHADA
command allows you to specify the average deceleration for an S-curve deceleration profile
when a hardware end-of-travel limit is hit.
The “end-of-travel limit” functions are assigned with the
LIMFNC
command to the onboard limit inputs on the
DRIVE I/O
connector; or with the
INFNC
command to onboard or external inputs. The factory default
LIMFNC
assignments on the
DRIVE I/O
connector are as follows (but any of the three limit inputs, five general purpose
inputs or inputs on external I/O bricks could be re-assigned as end-of-travel inputs):
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