ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 92)

Function 9: Auxiliary Home switch
This function activates the ##AUTO_HY routine in the user program. When the
function is selected, digital input connector pin #6 serves as the Home/Capture
switch for the feedback defined as auxiliary. Only IL[6] can be programmed to this
function. Refer to the
HY[N] command for more information.
Function 10: Hard and Soft stop
This function activates the ##AUTO_ST routine in the user program. It stops the
motor under control, stopping the response to external reference and applying the
software ST command simultaneously. This function actually activates function 1 and
function 7 simultaneously.
UM Action
Torque (UM=1) Set the torque command to zero.
Speed (UM=2) Reduce the software speed command to zero, using the stop
deceleration SD. Reduce the controller speed command to
zero, using the deceleration SD.
Position (UM=3, 4, 5) Set the software position command to a complete stop, using
the stop deceleration SD. Bring the controller reference
command to a complete stop, using the deceleration SD.
Table 3-22: UM Values for Hard and Soft Stop
Function 11: Abort motion
The behavior is similar to the Inhibit function with the exception that the “Abort”
input release will not start the motor automatically. After the Abort is activated,
MO=1 must be set either by communication or by the internal User Program.
The function activates the #@AUTO_ER routine, if it exists, in the user program.
Notes:
Make sure that the drive you use has the actual digital input that is programmed.
Failing to do so will not generate an error. Not all drives have the same digital
input entries. Nevertheless no error indication would be given in case a “none
existing” digital input is programmed. For example the Harmonica drive has 6
physical digital inputs. An attempt to set IL[10]=8 would not generate an error
but the RLS function would be programmed to the drive.
Use the Inhibit freewheel function with care. When the drive is shut, the motor
applies no torque. Turning off a drive might leave the motor spinning until it
stops by friction. In some situations this may be dangerous.
When a switch is released, the attached function terminates. Functions 2, 3 and 4
(Full Stop, RLS and FLS) do not change the drive reference command. When the
switch is released, the reference command (speed or position) is recovered. In
order to ensure that reference recoveries do not generate discontinuities, the SD,
VL[2] and VH[2] limits are used.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
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