RM - Reference Mode
Purpose:
Specifies the use of an external reference signal. In all unit modes, the
SimplIQ drive sums
the reference command to the drive from two sources:
A software command, generated internally either by a communicated command or by
a user program
An “auxiliary” reference, may be the sum of analog input #1 and the external signals
that are derived by the auxiliary encoder (possibly using the ECAM table) or PWM
signals.
In position mode (UM=5), the analog input is not used as a reference.
In stepper mode (UM=3), an auxiliary reference is sets the torque value to the stepper
generator.
The RM values are as follows:
RM Value Meaning
0 The reference command is generated internally, either by the
interpreter command or by the user program.
1 The reference command is summed from the internal software
reference command and the auxiliary reference command.
Table 3-40: RM Values
Attributes: Type: Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: Defined in following notes
Default value: 0 (RS), Non-volatile
Range: [0, 1]
Unit modes: All
Activation: MO=1
Notes:
If you are not using the auxiliary referencing option, set RM=0 to prevent A/D
noise from falsely driving the drive.
In dual loop mode (UM=4), switching to auxiliary reference mode (RM=1) is not
allowed.
In position mode (UM=5), RM may be changed only when the software reference
is stationary (MS ≤ 1). In speed mode (UM=2) RM may be changed at any time.
See also:
UM, FR[N], AG[N], AS[N], PW[N]
Reference chapter in the
SimplIQ Software Manual:
Chapter 11, ”Unit Modes”
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-125
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