ElmoMC SimplIQ Software Manual - Manual (Page 133)

SimplIQ Software Manual Unit Modes
MAN-SIMSW (Ver. 1.4)
10-3
If you do not use the analog input for the torque command, set RM = 0, in order to avoid
noises and offset that affect the drive speed command. The DV[2] command reports the
combined (software and analog input) speed demand, after being further processed for
acceleration and speed limiting, and for the switch actions RLS, FLS and STOP.
DV[4] and DV[5] retrieve the external and software components of DV[2], respectively.
10.2.1 Software Speed Command
The software speed command generator generates speed commands, subject to
acceleration, deceleration and speed limits. The following commands are relevant to the
generation of the software speed command:
Command Description
AC Profiler acceleration limit, in counts/second 2.
BG Begin command.
DC Profiler deceleration limit, in counts/second 2.
JV Profiler final speed command, in counts/second.
PM PM=1: Normal acceleration limits form software speed command.
PM=0: AC and DC are ignored and SD is used instead. The Composer
setup program uses this mode when tuning the speed controller.
During regular operation, PM=1 is recommended.
SF Smooth factor: time, in milliseconds, required to develop the full
acceleration of AC and deceleration of DC.
VH[2] Maximum speed command, in counts/second.
VL[2] Minimum speed command (bound by speed command, negative
value), in counts/second.
HL[2] Maximum allowed speed, in counts/second. If feedback indicates a
higher value, the motion is automatically aborted.
LL[2] Minimum allowed speed, in counts/second. If feedback indicates a
lower value (high value in negative direction), motion is automatically
aborted.
IL[N] Map functions to digital inputs, which may function as hardware ST
or BG instructions.
Table 10-2: Software Speed Commands
The BG command enters a new desired speed value together with the acceleration and
deceleration limits. The AC acceleration is used to increase the absolute speed value,
while the DC deceleration is used to decrease the absolute speed value.
The algorithm of the acceleration-limited software speed command is as follows: