ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 90)

UM Action
Torque (UM=1) Set torque command to zero.
Speed (UM=2) Set speed command to zero immediately at the deceleration
of the SD parameter.
Position (UM=3, 4,
5) Slow down to complete stop using the deceleration of the SD
parameter.
Table 3-17: UM Values for Hard Stop
Function 2: Input is ignored
This serves no function in the system and always reads zero in the IP/IB[N]
indications.
Function 3: General purpose (GPI)
No special function. Serves as an uncommitted input. The input may be used in the
user program and homing sequences as simple digital input. In addition, general
purpose inputs can activate ##AUTO_DIN automatic routines in the user program.
Function 4: Hard-reverse limit switch
The function activates the ##AUTO_RLS routine in the user program. In addition, it
has the following unit mode dependent actions:
UM Action
Torque (UM=1) Allow only positive torque commands. Negative torque
demands yield zero motor current.
Speed (UM=2) Allow only positive speed command (external or internal).
If, at the time of switch sensing, the speed command was
negative, the speed command will converge to zero using
the stop deceleration (SD).
Position (UM=3, 4, 5) Allow only positive position command increments (external
and internal). If, at the time of switch sensing, the speed was
negative, the position command will decelerate to a
complete stop using the deceleration of the SD parameter.
Table 3-18: UM Values for Hard ReverseFunction 5: Hard-forward limit switch
The function activates the ##AUTO_FLS routine in the user program. In addition, it
has the following unit mode dependent actions.
UM Action
Torque (UM=1) Allow only negative torque commands. Positive torque
demands yield zero motor current.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
82