User`s manual

6-6 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
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value must change while the
Drive Enabled
bit is ON for the DSM314 to accept it. The DSM314
detects a
Move at Velocity
command when the %AQ values change.
When the DSM314 is performing a
Move at Velocity command
, it ignores the software end of
travel limits (
Pos EOT
and
Neg EOT
). Hardware overtravel limits must be ON if they are
enabled.
A
Move at Velocity
command can be stopped without causing an error in two ways: a
Move at
Velocity
command with a velocity of zero, or turning the
Abort All Moves
%Q bit ON for at least
one PLC sweep.
Force Digital Servo Velocity Command (DIGITAL Servos)
This command bypasses the position loop and forces a velocity RPM command to the
digital
servo
for tuning purposes. Acceleration control is not used and changes in velocity take effect
immediately. A
Force Digital Servo Velocity
command value of +4095 will produce a motor
velocity of + 4,095 RPM and -4095 will produce a motor velocity of -4,095 RPM (depending on
individual motor maximum velocities). The digital servo control loops may limit actual motor
speed to a lower value.
CAUTION
Care should be taken not to operate a servomotor beyond its rated duty cycle.
The
Enable Drive
%Q bit must be active with no other motion commanded for the
Force Digital
Servo Velocity
command to operate. The command must remain continuously in the %AQ data
for proper operation. When a Force Digital Servo Velocity command is active for a given axis, any
other %AQ immediate command for that axis will remove the
Force Digital Servo Velocity
data
and halt the servo. A one-shot
Force Digital Servo Velocity
command will therefore only operate
during the sweep in which it appears.
Refer to Chapter 5, Motion Mate DSM314 to PLC Interface, for more information on this
command.
Note: The Force Analog Output command, described below, is used for analog servos.
Force Analog Output Command (ANALOG Servos)
In Analog mode, the
Force Analog Output
%AQ immediate command operates the analog output
on the DSM faceplate connectors A, B, C, or D. A
Force Analog Output
value of +32000 will
produce +10.00 Vdc and a
Force Analog Output
value of -32000 will produce -10.00 Vdc.
Force Analog Output
operates only while the %AQ data is active. When a Force Analog Output
command is active for a given axis, any other %AQ immediate command for that axis will
remove the Force Analog Output command and turn off the associated analog output.
Refer to Chapter 5, “Motion Mate DSM314 to PLC Interface”, for more information on this
command.