Rm - reference mode – ElmoMC SimplIQ Command Reference User Manual

Page 138

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=5), the analog input is not used as a reference.

In stepper mode (UM=3), an auxiliary reference is 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 3-40: RM Values

Attributes:

Type: Parameter,

Integer

Source:

Program, RS-232, CANopen

Restrictions:

Defined in following notes

Default value:

0 (RS), Non-volatile

Range: [0,

Unit modes: All
Activation: MO=1

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:

FR[N]

AG[N]

AS[N], PW[N]

Reference chapter in the

SimplIQ

Software Manual:

Chapter 11, ”Unit Modes”

SimplIQ

Command Reference Manual

Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

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