Table of Contents
Advertisement
LHAD
Hard Limit Deceleration
Type
Limit (End-of-Travel)
Syntax
<a_><!>LHAD<r>
Units
r = units/sec/sec
(linear motors: see DMEPIT for linear/rotary conversion)
Range
0.0001 – 9999.9999
Default
100.0000
Response
LHAD:
*LHAD100.0000
See Also
AD, DMEPIT, DRES, INFNC, INLVL, K, [ LIM ], LIMEN, LIMFNC,
LIMLVL, LH, LHADA, LS, LSAD, LSADA, LSNEG, LSPOS, SCALE, SCLA,
TLIM
The
command determines the value at which to decelerate after a hardware end-of-travel limit has
LHAD
been hit.
The "end-of-travel limit" functions are assigned with the
connector; or with the
DRIVE I/O
assignments on the
DRIVE I/O
inputs or inputs on external I/O bricks could be re-assigned as end-of-travel inputs):
UNITS OF MEASURE and SCALING: refer to page 16.
When a drive fault, a Kill command (
the rate set with the
and
LHAD
(
), the drive is immediately shut down upon a Kill command or Kill input and allows the
KDRIVE1
motor/load to freewheel to a stop without a controlled deceleration.
The hard limit deceleration remains set until you change it with a subsequent hard limit deceleration
command. Decelerations outside the valid range are flagged as an error, with a message
, where
is the field number. When an invalid deceleration is entered the previous deceleration
FIELD x
x
value is retained.
Example: Refer to the hard limit enable (LH) command example.
LHADA
Hard Limit Average Deceleration
Type
Motion (S-Curve)
Syntax
<a_><!>LHADA<r>
Units
r = units/sec/sec
(linear motors: see DMEPIT for linear/rotary conversion)
Range
0.0001 – 9999.9999
Default
100.000 (Default is a constant decel ramp, where LHADA tracks
LHAD. S-curve decel is achieved when LHADA is changed
independent of LHAD. To restore a constant decel ramp and
tracking, set AA = 0.)
Response
LHADA:
*LHADA100.0000
See Also
AD, ADA, INFNC, K, LHAD, LIMFNC, LIMLVL, SCALE, SCLA
The
command allows you to specify the average deceleration for an S-curve deceleration profile
LHADA
when a hardware end-of-travel limit is hit.
The "end-of-travel limit" functions are assigned with the
connector; or with the
DRIVE I/O
assignments on the
DRIVE I/O
inputs or inputs on external I/O bricks could be re-assigned as end-of-travel inputs):
LIMFNC
command to onboard or external inputs. The factory default
INFNC
connector are as follows (but any of the three limit inputs, five general purpose
Limit # Pin #
GT6K & GV6K Function ( LIMFNC default )
1
28
LIMFNC1-R (Positive end-of-travel limit)
2
29
LIMFNC2-S (Negative end-of-travel limit)
3
31
LIMFNC3-T (Home limit)
,
, or
), or a Kill input (
K
!K
^K
commands. However, if the Disable Drive on Kill mode is enabled
LHADA
LIMFNC
command to onboard or external inputs. The factory default
INFNC
connector are as follows (but any of the three limit inputs, five general purpose
www.comoso.com
Product
GT6K
GV6K
command to the onboard limit inputs on the
) occurs, motion is stopped at
INFNCi-C
*INVALID DATA-
Product
GT6K
GV6K
command to the onboard limit inputs on the
Command Descriptions
Rev
6.0
6.0
LIMFNC
Rev
6.0
6.0
LIMFNC
189
Advertisement
Table of Contents
