ElmoMC SimplIQ Command Reference - Manual (Page 85)

Function 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.
Speed (UM=2) Allow only negative speed command (internal or external). If,
at the time of switch sensing, the total speed command was
positive, the speed command will converge to zero using the
stop deceleration (SD).
Position (UM=3, 4, 5) Allow only negative position command increments (external
and internal). If, at the time of switch sensing, the speed was
positive, the position command will decelerate to a complete
stop using the deceleration of the SD parameter.
Table 3-22: UM Values for Hard Forward
Function 6: Begin
The function behaves like a software BG command, activating the ##AUTO_BG routine
in the user program. In addition, it has the following unit mode dependent actions:
UM Action
Torque (UM=1) Nothing.
Speed (UM=2) Set software speed command to JV.
Position (UM=3, 4, 5) Set software position command to the activated motion mode
(PA, JV, PT, PV).
Table 3-23: UM Values for Begin
Function 7: Software Stop
The function behaves like a software ST command, activating the ##AUTO_ST routine in
the user program. In addition, it has the following unit mode dependent actions:
UM Action
Torque (UM=1) Nothing.
Speed (UM=2) Reduce the software speed command to zero, using the
deceleration SD.
Position (UM=3, 4, 5) Set software position command to complete stop, using the
deceleration SD.
Table 3-24: UM Values for Software Stop
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
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