Pacific Laser Equipment C-400 - Manual (Page 14)

Motor controller 4ch User manual
C-400
November 19, 2002 Release: 1.30 2002 by
Pacific Laser Equipment
PLEquipment, 3941 S. Bristol St. Unit D-122, Santa Ana, CA. 92704,
( 509-355-5155, Fax: 509-355-5155, Email: [email protected]
Page 14 of 21
PARAMETER SETUP COMMANDS
DH Define Home
Defines the current motor position as the zero position (Home position).
Example: DH : Sets the current motor position to 0.
SG n Sets the static gain (0 < n < 32,767)
This command sets the slope of the proportional relationship between the position error and the motor
voltage. The higher the gain value set, the greater the stiffness of the position coupling, meaning that a
small error value causes a proportionally larger motor current driving the motor towards the target.
The default gain value usually ensures stable operation. The optimum value depends on friction, inertia,
motor power, and the resolution of the encoder. It must be determined by the user.
If the error reported by an axis after completing its motion is excessive, the gain value may be
increased in small increments until the error is within acceptable limits. If the axis becomes unstable
and begins to oscillate, the gain must be reduced until the oscillation stops.
Example: SG80 Sets a gain of 80
SA n Set Acceleration (0 < n < 2,000,000)
Sets the maximum acceleration rate in encoder counts per second squared.
Acceleration values are in the range from 100.000 to 800.000. The default value is set to 150.000.
SV n Set Velocity (0 < n < 500,000)
Causes the motor to run at maximum velocity of n counts/s for subsequent motion commands. The
value is given in encoder counts per second. If the torque load changes on the motor, the controller
attempts to maintain the velocity by varying the motor current.
Example:
SV40000 Sets the velocity of motion to 40,000 counts per second.
SM n Set Maximum following error (0 < n < 32,767)
Sets the maximum allowable error between the dynamic target and the actual position. May be
changed as often as desired to provide maximum protection to the system. The normal following error
can be monitored during motion with the TF command. For maximum system safety, use the SM
command to limit following error to a value slightly above that required for normal operation.
LN Limit Switch operation ON
Enable software limit switch operation. When a limit switch is encountered during motion, motion is
halted and is no longer possible in that direction as long as the switch remains closed. The target is
changed to the position at which the limit switch was encountered. Movement in the reverse direction is
not affected.
LF Limit switch operation OFF
Disables software limit switch operation. C-400
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also has logic circuitry to disable motion in the
direction of a hardware limit switch when the switch is actuated, whether or not the software limit switch
operation is enabled.
The LN and LF commands affect only the software. The LF command should only be used when
hardware limit switches are not installed.