Difference between revisions of "AXY:MC-Basic:SERCMAXPOS"

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{| class="prettytable"
 
{| class="prettytable"
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| '''Short form'''
 
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| '''N.A.'''
 
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<nowiki><new mode> 0</nowiki>4
 
  
 
|-
 
|-
 
| '''Syntax'''
 
| '''Syntax'''
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| <nowiki> ? user SET_SERCOS_MIN(,,)</nowiki>
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| <nowiki> ? user SET_SERCOS_MAX ( AxisNumber , value , 0 ) </nowiki>
  
 
|-
 
|-
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| '''Description'''
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| '''DESCRIPTION'''
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| Sets the operational mode explicitly:
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| this user function mimics <axis>.countmax.  
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| It sets a value of maximum <axis>.countFeedBack. If countFeedBack passes this value - it is reduced to SERCMINPOS, see figure.
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'''DPmode'''(0) – digital position
 
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'''DVmode'''(1) – digital velocity
 
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'''DTmode'''(2) – digital torque
 
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'''AVmode'''(3) – analog velocity mode
 
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'''ATmode'''(4) – analog torque mode* If the current mode is digital then, the mode change occurs at the end of the current movement command ('''''Move, Jog,''''' and '''''DigitalTorque''''') when the generator completes the motion.  
 
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* The interpreter does not wait the motion end, all succeeding '''''WoMode''''' commands will overwrite the previous value if given during the same movement.
 
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* If the current mode is analog and the new mode is one of the digital modes, then the mode change occurs immediately, and a profiled change (stopping) of the PVT values is executed to the following rules:
 
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* to DIGITAL-POSITION mode the axis is stopped using the '''''DecMax''''' value with the initial velocity and position values equal to the current feedback values. At the end the velocity is zero.
 
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* to DIGITAL-VELOCITY mode the axis is stopped using the '''''DecMax''''' value with the initial velocity and position values equal to the current feedback values. At the end the velocity is zero.
 
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* to DIGITAL-TORQUE mode the torque is changed to zero value using the nodal value of '''''TimeToTorque''''' for the torque change from its initial value that is equal to the current feedback value to zero torque value.
 
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|-
 
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| '''Data Type'''
 
| '''Data Type'''
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| integer (when queried)
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|AxisNumber:    1 to sys.NumberAxes
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|-
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|
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|value:          -maxlong to maxlong
  
 
|-
 
|-
 
| '''Range'''
 
| '''Range'''
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| 04
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|0  : value set OK
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|-
 +
|
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|(-1): value was not set
  
 
|-
 
|-
 
| '''Default'''
 
| '''Default'''
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| '''0'''
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| maxLong
  
 
|-
 
|-
 
| '''Units'''
 
| '''Units'''
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| none
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| counts
  
 
|-
 
|-
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| '''Non-Volatile'''
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| '''Scope'''
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|  
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| task, terminal
  
 
|-
 
|-
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| '''Scope'''
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| '''Limitations'''
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| Config, task, monitor
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| Write only
  
 
|-
 
|-
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| '''Write Access'''
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| '''Example'''
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| Read/Write
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|? user SET_SERCOS_MAX(1,1024,0)
  
 
|-
 
|-
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| '''Limitations'''
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| '''SEE ALSO'''
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| modal-only, Attachment needed
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* [[AXY:MC-Basic:SERCMINPOS]]
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* [[MC-Basic:CountMax]]
 +
|}
  
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|-
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'''figure: ccmd Vs cfb'''
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| '''Examples'''
 
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| WoMode DTmode – setting digital mode
 
  
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?WoMode – querying the current mode
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[[Image:AXY;SET_SERCOS_MAX.jpg]]
  
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{| class="prettytable"
 +
|-
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|'' ? user SET_SERCOS_MAX ( 1 , 10000 , 0 ) ''
 
|-
 
|-
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| '''Cross Reference'''
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|'' ? user SET_SERCOS_MIN ( 1 , -1000 , 0 ) ''
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|
 
  
 
|}
 
|}

Latest revision as of 08:37, 22 May 2014

Syntax ? user SET_SERCOS_MAX ( AxisNumber , value , 0 )
DESCRIPTION this user function mimics <axis>.countmax. It sets a value of maximum <axis>.countFeedBack. If countFeedBack passes this value - it is reduced to SERCMINPOS, see figure.
Data Type AxisNumber: 1 to sys.NumberAxes
value: -maxlong to maxlong
Range 0  : value set OK
(-1): value was not set
Default maxLong
Units counts
Scope task, terminal
Limitations Write only
Example ? user SET_SERCOS_MAX(1,1024,0)
SEE ALSO

figure: ccmd Vs cfb

AXY;SET SERCOS MAX.jpg

 ? user SET_SERCOS_MAX ( 1 , 10000 , 0 )
 ? user SET_SERCOS_MIN ( 1 , -1000 , 0 )
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