Parker Hannifin 88-021610-01G - Manual (Page 143)

Parker Hannifin
Chapter 6 Command Reference 143
SHALL Hall Sensor Configuration
Type Drive Configuration Product Rev
Syntax SHALL Aries 1.0
Units i = control option number
Range Ø (do not invert) or 1 (invert)
Default Ø
Response SHALL: <*>Ø
See Also ALIGN , RESET , THALL
Note: This command does not take effect until you cycle power to the drive,
or send the RESET command.
The SHALL command controls the logic sense of the Hall sensors. To invert
the sensors, use the SHALL1 command. To check the present value of the
Hall sensors, use the THALL command.
SMAV Maximum Acceleration in Velocity Mode
Type Tuning Product Rev
Syntax SMAV Aries 2.0
Units i = Acceleration in rev/sec 2
Range Ш.ШШ to 1ШШШШ.ШШ
Default 1ШШ.ШШ
Response SMAV: <*>1ШШ.ШШ
See Also DMODE
This command is only valid in DMODE4 (velocity mode). SMAV allows you to
control the maximum acceleration permitted in velocity mode. Use this
command to protect the mechanical systems from overly aggressive velocity
changes. This command is scaled by the (ERES) command.
SMPER Maximum Allowable Position Error
Type Servo Product Rev
Syntax SMPER Aries 2.0
Units i = Feedback device steps
Range Ø to 2,147,483,647
Default 4ØØØ
Response SMPER: <*>4ØØØ
See Also ERES , TPE , TPC , TPER
This command is only valid in DMODE6 or 7 (position mode). SMPER allows
you to set the maximum position error allowed before an error condition
occurs. The position error, monitored once per system update period, is the
difference between the commanded position and the actual position as read
by the feedback device selected with the last SFB command. When the