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SMAC

LAC-25 Technical Reference Manual

43

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

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Содержание LAC-25

Страница 1: ...SMAC LAC 25 TECHNICAL REFERENCE MANUAL Revision 3 4 February 1998 SMAC CORP 5807 Van Allen Way Carlsbad CA 92008...

Страница 2: ...S M A C 5807 VAN ALLEN WAY CARLSBAD CA 92008 PHONE 1 760 929 7575 FAX 1 760 929 7588 FOR TECHNICAL ASSISTANCE CALL 1 760 929 7575 COPYRIGHT AUTOMATION MODULES INC 1993 1998...

Страница 3: ...ABLING INTERRUPTS 13 2 3 INTERRUPT SOURCES 14 2 4 INTERRUPT PRIORITY 14 2 5 INTERRUPT COMPLETION 15 2 6 INTERRUPT LATENCY 15 3 ENTERING COMMANDS 17 3 1 DOWNLOADING COMMANDS 18 4 INTRODUCTION TO COMMAN...

Страница 4: ...is provided for future I O expansion modules 1 1 Specifications Description Stand Alone 2 Axis Servo Motor Controller Driver Operating Modes Position Velocity Torque and Electronic Gearing Filter Algo...

Страница 5: ...urate homing method A typical use for the Fault input is for an external device to signal a fault condition such as over temperature Note The external Fault input is tied to the internal over temperat...

Страница 6: ...tput to pass current and inactive means the inability for an output to pass current The Channel High CH and Channel Low CL commands provide the user with the ability to determine whether a channel is...

Страница 7: ...found in a changed state during a sampling the input would become invalid and the debounce delay would be restarted If no or 0 debounce delay is used then no input debouncing is performed For example...

Страница 8: ...status word For applications requiring capabilities above those of the onboard drivers the ability to interface to external drivers is provided This consists a 12 bit D A 10 VDC analog output signal...

Страница 9: ...use the Accumulator Load AL command to set the number of the macro for a vector The LV command is then used to transfer the low 8 bits of the accumulator to the vector table entry specified by the LV...

Страница 10: ...the interrupt for this condition is enabled the Error bit will still be set but the servo will not be disabled The Axis Fault interrupts indicate that a fault condition usually an over temperature co...

Страница 11: ...how long it takes the previous command to complete For most commands this delay will be imperceptible Commands such as Wait WA Wait for Edge WE Wait for Stop WS Wait for Off WF Wait for On WN and Wait...

Страница 12: ...link These codes are listed in Appendix A LAC 25 Error Code Definitions If you make a mistake when entering a command you can backspace to correct the error If you are entering commands and change you...

Страница 13: ...ro TM commands It should be noted that commands can be strung together by using commas up to a maximum line length of 127 characters If a command line is ended by a and a comment i e SG1000 SD5000 Set...

Страница 14: ...ations that cannot tolerate this condition Please note that the DB command is only in effect when the servo is not in motion or when the Trajectory Complete bit is set in the servo status word Related...

Страница 15: ...adjustment of the derivative sampling interval for servo axis a The period of this interval can be calculated by the following T n 1 S 0 000100 where T is the period in seconds n is the FR command arg...

Страница 16: ...s value can be dynamically predicted and summed with the output of the PID digital filter in effect it reduces the burden of the PID filter to make lead lag corrections based of the following error th...

Страница 17: ...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 Swit...

Страница 18: ...e D A analog output for a given axis The upper four bits of the argument are for redirection of data and determine from which axis the D A channel will get it s data This allows both D A channels to o...

Страница 19: ...s a The polarity of the output will determine whether the servo is driven in a direction that reduces or increases position error The encoder phase will determine whether the position count will incre...

Страница 20: ...bit argument to this command is scaled by 65536 This number determines how much the servo s velocity will be altered by each servo loop interval determined by the Servo Speed SS command while it is ac...

Страница 21: ...stable A good general value for SC is about 8000 Related Commands QM SQ Command aSDn Set Derivative Gain Argument 0 n 32 767 Default 0 This command sets the derivative gain term of the PID digital fil...

Страница 22: ...Torque Mode QM When this command is issued in Position Mode PM or Velocity Mode VM its limiting effect will remain in all modes of operation until again changed Note that an argument less than zero i...

Страница 23: ...eriod will be 10 0 000100 001000 S or 1 mS The minimum servo loop rate is 100 S per enabled axis The following table shows the minimum servo loop times Axis Enabled Minimum Loop Time 0 100 S 1 100 S 2...

Страница 24: ...art and a 16 bit fractional part Example Encoder 500 lines 2000 Counts Rev Desired Velocity 40 Rev Sec Servo Loop Interval 1 000 Hz 5242880 40 Rev Sec 2000 Counts Rev 1000 Hz 65536 To achieve a veloci...

Страница 25: ...axis a If no breakpoint value has yet been specified then the word NONE is returned Related Commands IP IR Command TCn Tell State of I O Channel n Argument 0 n 63 Default Off This command reports the...

Страница 26: ...splay was connected at the time Command aTF Tell Following Error This command reports the following error for servo axis a This value is the difference between the current desired temporal position or...

Страница 27: ...in SC 0 Velocity Feed forward Gain FV 0 Accel Feed forward Gain FA 0 Output Offset OO 0 Position Error Dead Band DB 0 Maximum Following Error SE 16383 Integral Sample Rate RI 0 Derivative Sample Rate...

Страница 28: ...ne MD command and number at the beginning of each macro Related Commands MD RM Command aTO Tell Optimal Position This command reports the desired position for servo axis a This value may be different...

Страница 29: ...d that the servo has been commanded to stop Upon stopping this bit is then cleared 6 Current Direction This bit indicated the current direction of travel for the servo 0 Positive 1 Negative 7 Desired...

Страница 30: ...ent has occurred and has been acted upon as set by the Limit Mode LM command 30 Limit Enabled A 1 in this bit position indicates that the Limit input has been enabled for action via the Limit Mode LM...

Страница 31: ...n level exists as a code in the internal RAM memory see Register Commands This code should be interpreted as the first byte being the major revision number and second byte being the minor revision num...

Страница 32: ...placed in QM If a servo axis is in VM and commanded into PM the servo will be stopped at the current acceleration rate and placed into the PM mode If a servo axis is in QM and commanded into VM it wi...

Страница 33: ...of a Motor Off MF command is executed before the axis is disabled Related Commands EA Command aDHn Define Home Argument 2 147 483 647 n 2 147 483 647 This command causes the current position of the s...

Страница 34: ...causes slave servo axis a to begin to move proportionally to master servo axis n If n is 0 then the electronic gearing mode for axis a will be disabled If n is positive then the slave axis will track...

Страница 35: ...nd is not required Related Commands MA GO Command aGO Go start motion This command causes servo axis a to begin motion When in the Velocity Mode VM the axis will accelerate to a constant velocity When...

Страница 36: ...arget Relative Argument 2 147 483 647 n 2 147 483 647 This command generates a relative target position of n counts for servo axis a Since the Move Relative MR command will not initiate a motion a Go...

Страница 37: ...ar In the case of a motor for example when an output command of 512 is set or about 2 5 amps the PWM output begins to ramp up until the desired output current is reached If the motor is not loaded eno...

Страница 38: ...fy 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 st...

Страница 39: ...be reported If the value contained by the register of the indirect argument is out of range an error will also be reported As stated earlier because the registers are within the NVRAM they are non vo...

Страница 40: ...Q command QCMD Current command QM1 SQ command TLMTPL Maximum positive servo output SQ command FAGAIN Acceleration feed forward of PID filter FA command PERR Last calculated servo position error TF com...

Страница 41: ...interrupt pending level 0 15 EV DV command IPEND1 User interrupt pending level 16 31 EV DV command SCLOCK Servo loop counter RCLOCK 1 mS Real time clock counter IO_DELAY User digital input delay ID c...

Страница 42: ...0528 02A0H 0672 THRO WORD 0212H 0530 02A2H 0674 QCMD WORD 0214H 0532 02A4H 0676 TLMTPL WORD 0216H 0534 02A6H 0678 FAGAIN WORD 0218H 0536 02A8H 0680 PERR WORD 021AH 0538 02AAH 0682 OERR WORD 021CH 054...

Страница 43: ...NG 0726H 1830 IO_DELAY BYTE 073EH 1854 Command AAn Add n to Accumulator Signed Argument 2 147 483 647 n 2 147 483 647 This command adds the value n to the accumulator Command AC Accumulator Complement...

Страница 44: ...he lower 32 bits of the 64 bit product in the accumulator and the upper 32 bits in Register 1 Related Commands AD Command ANn And Accumulator with n Argument 2 147 483 647 n 2 147 483 647 This command...

Страница 45: ...n Argument 0 n 2046 This command reads the 32 bit value at internal RAM location n and copies it to the accumulator The value specified by n must be evenly divisible by 2 Related Commands RB RW WB WL...

Страница 46: ...ument 0 n 2047 This command copies the low 8 bits of the accumulator to the internal RAM location n Related Commands RB RL RW WL WW Command WLn Write Long 32 bits to RAM location n Argument 0 n 2046 T...

Страница 47: ...ill be suspended until the condition becomes true Command DFn Do if I O Channel is Off Argument 0 n 63 This command will cause command execution to continue if I O channel n is Off otherwise the rest...

Страница 48: ...Channel is Off Argument 0 n 63 If the I O channel specified by n is in the off state command execution will continue otherwise the next two commands in the command line or the macro will be skipped Re...

Страница 49: ...d is executed When that position has been reached the breakpoint reached flag in the status register will be set This command can be issued before or after the servo has been commanded to move Related...

Страница 50: ...ument for this command works in reverse as compared to that of the IMCSA controller Related Commands FE Command WFn Wait for I O Channel Off Argument 0 n 63 Default Off This command waits until I O ch...

Страница 51: ...n 2 147 483 647 This command is used to determine when servo axis a has achieved the specified position n referenced by the current position when this command is executed Until that position has been...

Страница 52: ...the current position of servo axis a that position reported by the Tell Position TP command to be stored in location n of the Learned Position Storage table This command is useful for teaching target...

Страница 53: ...hen macro 5 is used via the Macro Call MC Macro Sequence MS or Macro Jump MJ commands the commands contained within the macro will be executed automatically There are a few necessary restrictions when...

Страница 54: ...ed such that the command would attempt to jump past the end of the macro command execution will resume as if the macro had ended If n is specified such that the command would attempt to jump to a poin...

Страница 55: ...the first command in the command line or an error will be reported Related Commands RM TM Command MJn Macro Jump Argument 0 n 255 This command may be used to Jump to a previously defined macro command...

Страница 56: ...1 then all the macros will be displayed preceded by the individual macro number If n 2 then all macros will be displayed and will be preceded by the letters MD and the individual macro number This is...

Страница 57: ...the inputs will have been debounced if the Input Debounce ID command is in effect Related Commands BO Command BOn Bulk Output to I O Port n Argument 0 n 7 This command copies the low 8 bits of the ac...

Страница 58: ...t state will depend on whether the channel is set active on or active off Related Commands CF CH CL Command IDn Input Debounce n milliseconds Argument 0 n 7 Default 0 This command determines the lengt...

Страница 59: ...AC 25 provides a proprietary high speed serial data bus Such uses might include various external devices such as thumb wheel switches LED or LCD displays switch panels and additional number or types o...

Страница 60: ...is used along with the Sequence Commands for conditional command execution Command BRn Set Baud Rate Argument 300 600 1200 2400 4800 9600 or 19 200 Default 9600 This command allows the user to change...

Страница 61: ...t variable RecAddr see Register commands is used to specify the location or address of the variable to be recorded The internal 16 bit variable RecSize is used to specify the data size If bit 0 of Rec...

Страница 62: ...DDn Dump Data Argument 0 n 16383 This command is used to dump data that has been previously recorded by the Capture Data CD command to the display The argument determines the number of recorded sample...

Страница 63: ...the accumulator Unused bits will be set to 0 Related Commands TA Command HF Hardware Handshaking Off Default Hardware handshake off This command does not function and is retained for backward compatib...

Страница 64: ...RLF MG0 Display contents of register 0 followed by CRLF MGN This command displays nothing followed by nothing MG THE BLACK BEAR IS 0 Display THE BLACK BEAR IS followed by the contents of register 0 fo...

Страница 65: ...given and operator input is received then register 0 will be the default recipient of the input value The following are all the valid examples Note that the N option causes a CRLF Parameters must be...

Страница 66: ...r default values Evidence of the baud rate change will not be immediate but will occur when the unit is either power cycled or the Reset RT command is issued This command is intended for use by the ma...

Страница 67: ...his boundary 7 OUT OF MACRO SPACE The LAC 25 allows for a maximum of 256 macros with up to 256 commands per macro and approximately 15800 bytes of macro storage space Each macro command requires 6 byt...

Страница 68: ...ng a MG or VI command no closing quote was encountered 14 MACRO STRING ERROR When using a MG or VI command in defining a macro no closing quote was encountered 15 SYNTAX ERROR Indicates the improper u...

Страница 69: ...hannel Off IG If Accumulator is n IN If Channel is On IP Interrupt on Absolute Position IR Interrupt on Relative Position IS If Accumulator Bit is Set IU If Accumulator Unequal to n RP Repeat WA Wait...

Страница 70: ...er Index 24 Axis 2 Encoder Index 25 Axis 1 Encoder Index 26 Axis 1 Encoder Index J3 Optional I O Expansion Interface 6 Pin Modular Type AMP 5 641337 3 Digi Key A9093 ND 1 Receive Data input 2 Transmit...

Страница 71: ...22 IN 53 IP 54 IR 54 IS 54 IU 54 JP 59 JR 59 LF 22 LM 22 LN 23 LP 57 LT 57 LV 59 MA 40 MC 60 MD 60 MF 40 MG 69 MJ 60 MN 41 MP 57 MR 41 MS 60 NO 69 OM 23 OO 24 PH 24 PM 41 QM 42 RA 50 RB 50 RC 61 RI 2...

Страница 72: ...P Parameter commands 19 R Register commands 44 Register Space 44 Reporting commands 30 S Sequence Commands 52 Serial communications commands 65 Serial interface 11 Specifications 7 Status Bits Acceler...

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