User`s manual

DSM to PLC Interface
GFK-1742A Chapter 5 Motion Mate DSM314 to PLC Interface 5-17
5
In the following %AQ command table, only the word offsets for Servo Axis 1 are listed. Word
offsets for the other axes are computed by adding 3 (Servo Axis 2), 6 (Servo Axis 3), or 9 (Servo
Axis 4) to the listed word offsets. The Ref column numbers refer to sections in this chapter.
Table 5-7. %AQ Immediate Commands Using the 6-Byte Format
Word 2Word 1Word 0
Byte 5 Byte 4 Byte 3 Byte 2 Byte 1 Byte 0 Immediate Command Definition Ref
xx xx xx xx 00 00h
Null
4.01
xx xx xx RO% 00 20h
Rate Override
RO% = 0 ...120%
4.02
xx xx * Incr 00 21h
Position Increment Without Position Update
Incr. = -128 ... +127 User Units
4.03
Velocity 00 22h
Move At Velocity
Vel. = -MaxVelUu … +MaxVelUu
4.04
Position 00 23h
Set Position
Pos. = -MaxPosnUu ... + MaxPosnUu-1
4.05
xx xx Analog Output 00 24h
Force Analog Output
Analog Output = -32,000 ... + 32,000
4.06
xx xx * Incr. 00 25h
Position Increment With Position Update
Incr. = -128 ... +127 User Units
4.07
xx xx xx In Posn
Zone
00 26h
In Position Zone
Range = 0 ... 255
4.08
Position or Parameter # Move
Type
27h
Move Command
Pos. = -MaxPosnUu ... + MaxPosnUu-1
Par # = 0 ... 255
4.09
Velocity 00 28h
Jog Velocity
Vel. = +1 … +MaxVelUu
4.10
Acceleration 00 29h
Jog Acceleration
Acc. = +1 ... + MaxAccUu
4.11
xx xx Time Constant
(0.1 ms units)
00 2Ah
Position Loop Time Constant
Time Constant = 0 - 65535 (0.1 ms units)
4.12
xx xx VFF (0.01% units) 00 2Bh
Velocity Feedforward
VFF = 0 ... 12000 (0.01% units)
4.13
xx xx Integr. TC 00 2Ch
Integrator Time Constant
Time Constant = 0, 10 ... 10,000 ms
4.14
Ratio B Ratio A 00 2Dh
Follower A/B Ratio
Ratio A = –32,768 … +32,767
Ratio B = +1 ... +32,767
4.15
xx xx xx VLGN 00 2Eh
Velocity Loop Gain (Digital mode only)
VLGN = 0 ... 255
4.16
xx xx Torque Limit
(0.01% units)
00 2Fh
Torque Limit (Digital mode only)
Range = 0-10000 (0.01% units)
4.17