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Example
LSPOS500000
; Set soft limit positive-direction absolute position to be
; 500000 units (Soft limits are always absolute)
LSNEG-500000
; Set soft limit negative-direction absolute position to
; be -500000 units (Soft limits are always absolute)
LS3
; Enable both soft limits
LSAD100
; Set soft limit decel to 100 units/sec/sec
PSET0
; Set absolute position to 0
A10
; Set accel to 10 units/sec/sec
V1
; Set velocity to 1 unit/sec
D100000
; Set distance to 100000 units
GO1
; Initiate motion
LSAD
Soft Limit Deceleration
Type
Limit (End-of-Travel)
Syntax
<a_><!>LSAD<r>
Units
r = units/sec/sec
(linear motors: see DMEPIT for linear/rotary conversion)
Range
0.0001 – 9999.9999
Default
100.0000
Response
LSAD:
*LSAD100.0000
See Also
DMEPIT, DRES, LHAD, LS, LSADA, LSNEG, LSPOS, SCALE, SCLA
The
command determines the value at which to decelerate after a programmed soft limit (
LSAD
) has been hit.
LSNEG
UNITS OF MEASURE and SCALING: refer to page 16.
The soft limit deceleration remains set until you change it with a subsequent soft 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 soft limit enable (LS) command example.
LSADA
Soft Limit Average Deceleration
Type
Motion (S-Curve); Limit (End-of-Travel)
Syntax
<a_><!>LSADA<r>
Units
r = units/sec/sec
(linear motors: see DMEPIT for linear/rotary conversion)
Range
0.0001 – 9999.9999
Default
100.0000 (Default is a constant decel ramp, where LSADA tracks
LSAD. S-curve decel is achieved when LSADA is changed
independent of LSAD. To restore a constant decel ramp and
tracking, set AA = 0.)
Response
LSADA:
*LSADA100.0000
See Also
AD, ADA, LS, DMEPIT, LHADA, LS, LSAD, SCALE, SCLA
The
command allows you to specify the average deceleration for an S-curve deceleration profile
LSADA
when a soft limit is hit. 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
Acceleration scaling (
) affects
SCLA
Example:
LSAD10
; Set the maximum deceleration to 10 units/sec/sec
LSADA5
; Set the average deceleration to 5 units/sec/sec
198
Gemini GV6K/GT6K Command Reference
the same as it does for
LSADA
www.comoso.com
Product
GT6K
GV6K
*INVALID DATA-
Product
GT6K
GV6K
15
for details on S-curve profiling.
. Refer to page
16
for details on scaling.
LSAD
Rev
6.0
6.0
or
LSPOS
Rev
6.0
6.0
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