SMAC
LAC-25 Technical Reference Manual
22
Command:
aILn
-- Set Integration Limit --
Argument:
0 <= n <= 16,383
Default:
0
This command clamps the level of influence that the PID digital filter integral term can use
to reduce the static position error of servo axis 'a'. When properly adjusted, this can enhance loop
stability and operation. The Integral Limit (IL) and Set Integral Gain (SI) must both be set to a non-
zero value in order for the integral term to have any effect.
Related Commands: SI
Command:
aLFn
-- Limit Switch Input Off --
Argument:
0 <= n <= 3
Default:
0
This command disables one or more of the limit switch inputs for servo axis 'a'. The valid
arguments to this command determine which inputs will be disabled and are as follows:
n
Limit Switch Inputs Disabled
0, 3 or no
argument
Limit+ and Limit-
1
Limit+
2
Limit-
Related Commands: LM, LN
Command:
aLMn
-- Limit Switch Input Mode --
Argument:
0 <= n <= 3
Default:
0
This command is used to select how the LAC-25 will react when a limit switch is activated
for servo axis 'a'. The valid arguments for this command are as follows:
n
Action
0
Turn servo off, continue commands
1
Stop abruptly, continue commands
2
Decelerate smoothly, continue
commands
3
Interrupt only
In all cases, the Error flag in the status word will be set. This will prevent the LAC-25 from
moving the servo until the flag is cleared by issuing the Motor On (MN) command. Before this
command will have any effect, the limit switch must be enabled with the Limit Switch On
command (LN).
Related Commands: LF, LN
