Справочник Пользователя для Intelligent Motion Systems 17

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MNEMONIC

FUNCTION

TYPE

DESCRIPTION

If the encoder is enabled (EE = 1) and the encoder differs from the motor by more than the specified factor, a STALL is indicated.  If
SM is set to 0, then the motor will be stopped when a STALL is detected.

USAGE

UNITS

RANGE

DEFAULT

               SF=<counts>

Encoder counts

0 to 65000

10

EXAMPLE:

SF=20

‘Set the stall factor to twenty counts. If the motor falls behind by more than 20 encoder counts a stall is detected.

RELATED COMMANDS: EE, SM, ST

MNEMONIC

FUNCTION

TYPE

DESCRIPTION

The SM variable specifies the action which will be taken by the MDrive Motion Control when a stall is detected. When set to 0
(default) the motion will be stopped upon a stall detection. When SM=1, the motor will continue to move. In either case  ST (Stall
Flag) will be set.

USAGE

DEFAULT

SM = <0/1>

0 (Stop Motor)

EXAMPLE:

SM=0

‘stop motor when a stall is detected

SM=1

‘do not stop motor upon a stall

RELATED COMMANDS: EE, SF, ST

MNEMONIC

FUNCTION

TYPE

DESCRIPTION

The SL instruction will slew the axis at the specified velocity in counts per second. The axis will accelerate at the rate specified by
the A (Acceleration) variable.

Note that the maximum slew velocity is independant of the maximum velocity specified by the VM variable. If a slew is commanded
at a velocity greater than the setting of VM, the axis will accelerate to that velocity regardless of the setting of VM.

USAGE

UNITS

RANGE

               SL <±velocity>

 ± Counts per sec

±5000000

EXAMPLE:

SL=20000

‘slew the axis at 20000 counts/sec

RELATED COMMANDS: A, D, MS, MR