Elmomc SimplIQ Command Reference Manuel d'utilisateur Page 106
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- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
MO - Motor Enable/Disable
Purpose:
Enables and disables (freewheels) the motor power.
Disabling the motor
MO=0 disables the motor. This is the idle state of the drive. The power stage is
disabled and no current flows in the motor. In this mode, the servo drive can perform
various tasks that are impossible when the motor is on:
Boot on power up
Calculate and check the integrity of the drive database
Download new firmware and user programs
Save parameters in the flash memory
Modify setup data that cannot be modified on-the-fly, such as commutation
parameters (CA[N]) and unit mode (UM)
The servo driver is automatically disabled when a motor fault is captured (MF). An
attempt to enable the motor may fail if the conditions of the fault still exist.
If the brake function is activated, the MO=0 command duration is extended
according to the BP[N] command specification.
Enabling the motor
MO=1 is the operative state of the servo drive, driving the motor and activating and
executing the programmed motion. The software runs a set of tests to ensure that all
conditions for running the motor are met.
If MO is set to 1 and the motor is already on, nothing happens.
When the motor is enabled, the drive reinitializes the internal parameters and motion
drivers. The drive may fail to start if the setup data is found to be inconsistent (for
example, CA[4]=CA[5]). In this case, CD commands indicate the reason for the
failure.
The last captured motor fault (MF) is reset to zero.
In the position control modes (UM=4, 5), the motor is always started so that it does
not jump. The total position control command — which consists of the internal
position command and the external position command — is set to the actual present
position of the motor in order to prevent the motor from jumping.
Notes:
When RM=1 the servo drive will attempt to start (set MO=1) automatically after
power on. A servo drive that has been shut down for any reason will attempt an
automatic restart every few milliseconds. Automatic restart will occur only if the
Enable switch (INH) is active (refer to the IL[N] command). In all other modes, the
MO=0 state is maintained until MO is explicitly changed by a software command.
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-93
- SimplIQ 1
- Important Notice 2
- Contents 3
- Chapter 1: Introduction 6
- 1.2 Scope 7
- MAN-SIMCR (Ver. 4.5) 10
- Command Reference Manual 14
- Limit Ranges 16
- (Single_Turn+Multi_Turn) 17
- AC - Acceleration 19
- AG[N] - Analog Gains Array 20
- AN[N] - Analog Inputs Array 21
- SimplIQ electronics 22
- BG - Begin Motion 23
- BP[N] - Brake Parameter 25
- CA[N] - Commutation Array 28
- 16 - CA[34] 30
- 16-CA[34] 33
- CC - Compiled Program Ready 34
- CD - CPU Dump 35
- SimplIQ Software 37
- CP - Clear Program 39
- DC - Deceleration 40
- DD - CAN Controller Status 41
- DF/DS - Download Firmware 42
- DL - Download Program 43
- EC - Error Code 45
- SimplIQ internal use 53
- SimplIQ drive internal use 53
- EM[N] - ECAM Parameters 60
- EO - Echo Mode 62
- FF[N] - Feed Forward 65
- FR[N] - Follower Ratio 66
- GS[N] - Gain Scheduling 67
- SimplIQ can: 70
- HP - Halt Program Execution 73
- HX - Hexadecimal Mode 74
- IB[N] - Input Bits Array 78
- IF[N] - Digital Input Filter 80
- IL[N] - Input Logic 81
- SimplIQ drive will retry 82
- Harmonica drive has 6 86
- IP - Input Port 88
- JV- Jogging Velocity 90
- KI[N], KP[N] - PI Parameters 92
- KL - Kill Motion and Program 93
- LC - Current Limit Flag 95
- LL[N] - Low Feedback Limit 97
- LP[N] - List Properties 98
- LS - List User Program 99
- MF - Motor Failure 101
- MI - Mask Interrupt 104
- SimplIQ Software Manual: 105
- MO - Motor Enable/Disable 106
- MS - Motion Status 110
- OB[N] - Output Bits Array 111
- OC[N] – Output Compare 113
- OC[3]=100(RS), volatile 115
- OC[4]=200(RS), volatile 115
- OL[N] - Output Logic 116
- drive will receive 117
- OP - Output Port 118
- PA - Absolute Position 119
- PE - Position Error 120
- PK - Peak Memory 121
- SimplIQ Software Manual 122
- PM - Profiler Mode 124
- PP[N] - Protocol Parameters 125
- PR - Relative Position 127
- PS - Program Status 128
- PT - Position Time Command 129
- Notes: 131
- PX - Main Position 132
- PY - Auxiliary Position 133
- RG - Recorder Gap 136
- RL - Record Length 137
- RM - Reference Mode 138
- RP[N] - Recorder Parameters 139
- RS - Soft Reset 142
- RV[N] - Recorded Variables 143
- SD - Stop Deceleration 144
- SF - Smooth Factor 145
- SN - Serial Number 146
- SP - Speed for PTP Mode 147
- SR - Status Register 148
- ST - Stop Motion 150
- TC - Torque Command 152
- TM - System Time 154
- TR - Target Radius 156
- TS - Sampling Time 157
- TW[N] - Wizard Command 158
- UF[N] – User Float Array 159
- UI[N] – User Integer 160
- UM - Unit Mode 161
- VE - Velocity Error 163
- VR - Firmware Version 165
- 3-50 below 168
- 3-52 below 169
- 3-53 below 169
- XM[N] - X Modulo 175
- XP[N] - Extra Parameters 176
- YM[N] - Y Modulo 180
- Storage 182
- array · 3-9 183
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