ElmoMC SimplIQ Command Reference - Manual (Page 71)

HM[N] (Index) Value Description
0 In UM=2, 3, 4, 5: Stop immediately using SD deceleration
value. In torque mode (UM=1), do nothing.
1 Set digital output, equivalent to OP=HM[6].
4
After-event
behavior. Defined
as the time in
which HM[1]
decreases to 0.
2 Do nothing.
0 Absolute setting of position counter: PX=HM[2].
1 Relative setting of position counter:
PX=PX (at event) -HM[2]
5
What to set for PX
during event
2 Do nothing.
6
Output value Digital output value if HM[4]=1.
Only outputs defined as general output are affected.
7
PX captured
value The captured value of PX (read only). The position value is
captured before PX is changed according to HM[5].
8
PY captured
value The captured value of PY (read only). The position value is
captured at the next controller sampling time and
therefore may be inaccurate to (4*VX*TS*10
-6 ) counts.
Table 3-16: HM[N] Command Values
Notes:
ƒ Elmo drives have a different number of digital inputs. The value of HM[3] may
differ according to that. Please consult the drive’s Installation Guide for details.
ƒ HM[2] - HM[6] can be changed during the home search procedure. The activation
of the parameters is considered upon reception of the next HM[1]=1 (or higher).
ƒ If HM[2] is set to a value beyond XM[1] and XM[2], the actual main position will
not be updated when homing is complete.
ƒ Each homing event is attached to a predefined functionality (FLS, General
Purpose, Home and so on). If the corresponding input is not defined first, the
homing procedure may never end. Refer to the
IL[N] command.
ƒ The homing and capture procedures can be carried out in any unit mode (UM=1,
2, 3, 4, 5) and reference mode (RM=0, 1).
ƒ In external reference mode (RM=1), when HM[4]=0, the software portion of the
reference is stopped, while the external portion is not. In such cases, the motor
continues to move according to the analog reference.
ƒ Homing can be safely carried out in PTP and jog position motion modes. With PT
and PVT modes, the online reloading of the position counter can lead to an
immediate, automatic MO=0 due to excessive position error.
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
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