User`s manual

5-18 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
5
Table 5-7.
- Continued - %AQ Immediate Commands Using the 6-Byte Format
Word 2 Word 1 Word 0
Byte 5 Byte 4 Byte 3 Byte 2 Byte 1 Byte 0 Immediate Command Definition Ref
Position 00 31h
Set Aux Encoder Position
Pos. = -MaxPosnUu ... + MaxPosnUu-1
4.18
xx xx Digital Servo
Velocity Cmd
00 34h
Force Digital Servo Velocity
Servo Velocity Cmd = -4,095 ... +4,095 RPM
4.19
xx xx Offset Mode 40h
Select Return Data 1
4.20
xx xx Offset Mode 41h
Select Return Data 2
4.21
xx xx Make-Up Time 00 42h
Follower Ramp Distance Make-Up Time
Active Range = 0, 10 ... 32000 ms
4.22
xx xx Mode Axis 47h
Select Analog Output Mode (Digital mode only)
4.23
xx xx xx xx 00 49h
Clear New Configuration Received
4.24
Parameter Data Par #h 50h
Load Parameter Immediate
Par # = 0 ... 255
Parameter Data = Range depends on parameter
usage.
4.25
* = Only 00 or FFh are acceptable.
xx = don’t care
4.01 Null.
This is the default %AQ Immediate command. Since the %AQ words are automatically
transferred each PLC sweep, the
Null
command should always be used to avoid inadvertent
execution of another %AQ Immediate command.
4.02 Rate Override
.
This command immediately changes the % feedrate override value, which will
modify the commanded velocity for all subsequent programmed moves. This new value will
become effective immediately when received by the DSM314. It is stored and will remain
effective until overwritten by a different value. A rate override has no effect on non-programmed
motion or acceleration.
Rate Override
is set to 100% whenever a program is initiated. The
Rate
Override
command can be sent on the same PLC sweep as an
Execute Program
%Q bit and the
Override value will immediately take effect. Rate Override can be used to adjust the programmed
velocity (not acceleration) of a particular move or a set of moves on any given axis.
4.03 Position Increment Without Position Update.
(User units) This command offsets the
axis position from -128 to +127 user units without updating the
Actual Position
or
Commanded
Position
. The DSM314 will immediately move the axis by the increment commanded if the servo
is enabled. Position Increments can be used to make minor machine position corrections to
compensate for changing actual conditions. See Chapter 6, Non-Programmed Motion, for more
information on Position Increment Commands with the DSM314.
4.04 Move At Velocity
.
(User units/sec) This command is executed from the PLC to move the axis
at a constant velocity. The active
Jog Acceleration
rate and configured
Jog Acceleration Mode
are used for
Move at Velocity
commands. Axis actual position data will roll over at the
configured Hi or Lo Limit when reached during these moves. See Chapter 6, Non-Programmed
Motion, for more information on the Move at Velocity Command.