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Acceleration scaling (
) affects
SCLA
S-curve profiling provides smoother motion control by reducing the rate of change in deceleration; this decel rate
of change is known as jerk. Refer to page
Example:
LHAD10
; Set the maximum deceleration to 10 units/sec/sec
LHADA5
; Set the average deceleration to 5 units/sec/sec
[ LIM ]
Limit Status
Type
Assignment or Comparison
Syntax
See below
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
[ IN ], INDEB, INFNC, LH, LIMEN, LIMFNC, LIMLVL, TLIM
The
operator is used to assign the limit status bits to a binary variable, or to make a comparison against a
LIM
binary or hexadecimal value. To make a comparison against a binary value, the letter b (b or B) must be
placed in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, Ø, X, x). To make
a comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the value. The
hexadecimal value itself must only contain the letters A through F, or the numbers Ø through 9.
does not depict the status of onboard inputs or external digital inputs assigned an end-of-travel or home
LIM
limit function (
,
INFNCi-R
INFNCi-S
Syntax:
where
VARBn=LIM
or
can be used in an expression such as
LIM
The
value is the debounced version of the limits status (debounced with the
LIM
(
) bits 15 and 16 reports the non-debounced version of the end-of-travel limits.
AS
There are 3 limit inputs: positive-direction, negative-direction, and home end-of-travel limits. Each is
available for assignment or comparison. If it is desired to assign only one limit input value to a binary
variable, instead of the status of all the limit inputs, the bit select (
conjunction with the limit input number, is used to specify a specific limit input. For example,
assigns limit input 3 (home limit) to binary variable 1.
VARB1=LIM.3
Format for binary assignment:
Example:
IF(LIM=b11X)
; If both end of travel limit inputs are active, then
; do the statements between the IF and NIF
TLIM
; Transfer limit status
NIF
; End IF statement
190
Gemini GV6K/GT6K Command Reference
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)
the same as it does for
LHADA
15
for details on S-curve profiling.
, or
). For such inputs, you must use the
INFNCi-T
is the binary variable number,
n
IF(LIM=b1XX)
000
Bit #1
LIM bit
Function
1
Positive-direction Limit
2
Negative-direction Limit
3
Home Limit
www.comoso.com
. Refer to page
16
LHAD
, or
IF(LIM=h7)
ØINDEB
) operator can be used. The bit select, in
.
Bit #3
for details on scaling.
Product
Rev
GT6K
6.0
GV6K
6.0
operator.
IN
value). Axis status
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