Command Descriptions
195
LIMLVL
Hardware Limit Input Active Level
Type
Limit (End-of-Travel and Homing)
Syntax
<a_><!>LIMLVL<b><b><b>
Units
n/a
Range
b = 0 (active
low:
requires
n.c.
EOT switch
&
n.o.
home
switch),
1 (active
high:
requires
n.o.
EOT switch
&
n.c.
home
switch),
or X (don’t care)
Default
0
Response
LIMLVL: *LIMLVL000
See Also
[ AS ], LH, LIMEN, [ LIM ], LIMFNC, HOM, TAS, TLIM
Product Rev
GT6K 6.0
GV6K 6.0
Use the
LIMLVL
command to define the active state the end-of-travel and home limits (found on the
“
DRIVE I/O
” connector). The default state is active low.
Command syntax for limits on the
DRIVE I/O
connector (bits are numbered 1-3 from left to right):
LIMLVLbbb
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)
Active Level Setting
Required Switch Type *
State
LIM
/
TLIM
Report
Active low (
LIMLVL0
)
This is the default setting.
End-of-travel limit: N.C.
Home limit: N.O.
Grounded
— sinking current
(device driving the input is on)
1 (no limit hit)
Not Grounded
— not sinking current
(device driving the input is off)
0 (FAULT: limit hit)
Active high (
LIMLVL1
)
End-of-travel limit: N.O.
Home limit: N.C.
Grounded
— sinking current
(device driving the input is on)
0 (FAULT: limit hit)
Not Grounded
— not sinking current
(device driving the input is off)
1 (no limit hit)
* Compumotor recommends that all end-of-travel limit switches be normally-closed, because with normally-closed
limit switches the drive detects a limit fault condition (and stops or inhibits motion) when the switch contact is open
or if the wiring to the switch is broken.
Axis Status (
AS
,
TAS
, and
TASF
) bits 15 and 16 indicate when a hardware end-of-travel limit has been
activated (i.e., invoking the “inhibit motion” function).
Wiring instructions and specifications for the limit inputs are provided in the
Hardware Installation Guide
.
LJRAT
System Load-to-Rotor/Forcer Inertia/Mass Ratio
Type
System
Syntax
<a_><!>LJRAT<r>
Units
Rotary motor: r = ratio
of
load
inertia
to
motor
rotor
inertia
Linear motor: r = ratio
of
load
mass
to
forcer
mass
Range
0.0 - 100.0
Default
0.0
Response
LJRAT: *LJRAT4
See Also
DACTDP, DELVIS, TGAIN, TSGSET
Product Rev
GT6K 6.0
GV6K 6.0
The
LJRAT
command sets the system’s load-to-rotor inertia ratio (rotary motors) or load-to-forcer mass
ratio (linear motors). The ratio is expressed in the following equation:
Rotary Motors:
LJRAT
= load inertia / motor rotor inertia
(Total system inertia = load i motor rotor inertia)
Linear Motors:
LJRAT
= load mass / forcer mass
(Total system mass = load mass + forcer mass)
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