ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 153)

RM - Reference Mode
Purpose:
Specifies the use of an external reference signal. In all unit modes, the
SimplIQ drive
sums the reference command to the drive from two sources:
A software command, generated internally either by a communicated command or by
a user program
An “auxiliary” reference, may be the sum of analog input #1 and the external signals
that are derived by the auxiliary encoder (possibly using the ECAM table) or PWM
signals.
In position mode (UM=4, UM=5), the analog input is not used as a reference.
In stepper mode (UM=3), an auxiliary reference sets the torque value to the stepper
generator.
The RM values are as follows:
RM Value Meaning
0 The reference command is generated internally, either by the
interpreter command or by the user program.
1 The reference command is summed from the internal software
reference command and the auxiliary reference command.
Table 3-37: RM Values
Attributes: Type: Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: Defined in following notes
Default value: 0 (RS), Non-volatile
Range: [0, 1]
Unit modes: All
Activation: MO=1
SimplIQ: Similar
Notes:
If you are not using the auxiliary referencing option, set RM=0 to prevent A/D
noise from falsely driving the drive.
In dual loop mode (UM=4), switching to auxiliary reference mode (RM=1) is not
allowed.
In position mode (UM=5), RM may be changed only when the software reference
is stationary (MS ≤ 1). In speed mode (UM=2) RM may be changed at any time.
See also:
UM , FR[N] , AG[N] , AS[N], PW[N]
Application note:
Unit Modes
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
145