Emerson DSM314 - Page 157

User Manual Chapter 5
GFK-1742F Jan 2020
DSM314 to Host Controller Interface 146
The word offsets are shown in reverse order and in hexadecimal to simplify the data entry.
The following example sends the Set Position command to axis 1. The first word, word 0,
contains the actual command number. For the Set Position command, the command
number is 0023h. The second and third words contain the data for the Set Position
command that is a position. The second word, word 1, is the least significant word of the
position and the third word, word 2, is the most significant word.
Example:
To set a position of 3,400,250, first convert the value to hexadecimal. 3,400,250 decimal
equals 0033E23A hexadecimal. For this value, 0033 is the most significant word and E23A is
the least significant word. The data to be sent to the DSM314 would be:
Word 2
Word 1
Word 0
Command
0033
E23A
0023
Set Position 3,400,250
Setting up word 0 as a hexadecimal word and words 1 and 2 as a double integer in a
Reference View Table display will simplify immediate command entry.
The data limit values MaxPosnUu, MaxVelUu and MaxAccUu are computed as shown
below:
Formulas for Computing Data Limit Variables
Position Limit MaxPosnUu
Velocity Limit MaxVelUu
Acceleration Limit MaxAccUu
If uu:cts >= 1:1
MaxPosnUu = 536,870,912
Else (uu:cts < 1:1)
MaxPosnUu = 536,870,912 *
uu/cts
MaxVelUu = 1,000,000*
uu/cts
If uu:cts >= 1:1
MaxAccUu = 1,073,741,823
Else (uu:cts < 1:1)
MaxAccUu = 1,073,741,823*
uu/cts
In the following %AQ command table, only the word offsets for Servo Axis 1 are listed.
Word offsets for the other axes are computed by adding 3 (Servo Axis 2), 6 (Servo Axis 3),
or 9 (Servo Axis 4) to the listed word offsets. The Ref column numbers refer to sections in
this chapter.