IMS 17 Operating Instructions Manual page 61

MNEMONIC
SF
DESCRIPTION
If the encoder is enabled (EE = 1) and the encoder differs from the motor by more than the specified factor, a STALL is indicated. If
SM is set to 0, then the motor will be stopped when a STALL is detected.
USAGE
SF=<counts>
EXAMPLE:
SF=20 'Set the stall factor to twenty counts. If the motor falls behind by more than 20 encoder counts a stall is detected.
RELATED COMMANDS: EE, SM, ST
MNEMONIC
SL
DESCRIPTION
The SL instruction will slew the axis at the specified velocity in counts per second. The axis will accelerate at the rate specified by
the A (Acceleration) variable.
Note that the maximum slew velocity is independant of the maximum velocity specified by the VM variable. If a slew is commanded
at a velocity greater than the setting of VM, the axis will accelerate to that velocity regardless of the setting of VM.
USAGE
SL <±velocity>
EXAMPLE:
SL=20000 'slew the axis at 20000 counts/sec
RELATED COMMANDS: A, D, MS, MR
MNEMONIC
S M
DESCRIPTION
The SM variable specifies the action which will be taken by the MDrive Motion Control when a stall is detected. When set to 0
(default) the motion will be stopped upon a stall detection. When SM=1, the motor will continue to move. In either case ST (Stall
Flag) will be set.
USAGE
SM = <0/1>
EXAMPLE:
SM=0 'stop motor when a stall is detected
SM=1 'do not stop motor upon a stall
RELATED COMMANDS: EE, SF, ST
FUNCTION
Stall Factor Variable
UNITS
Encoder counts
FUNCTION
Slew Axis Instruction
UNITS
± Counts per sec
FUNCTION
Stall Detection Mode Variable
DEFAULT
0 (Stop Motor)
TYPE
Encoder Variable
RANGE
0 to 65000
TYPE
Motion Instruction
RANGE
±5000000
TYPE
Encoder Variable
DEFAULT
10
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