Emerson DSM314 - Page 158

User Manual Chapter 5
GFK-1742F Jan 2020
DSM314 to Host Controller Interface 147
Table 46: %AQ Immediate Commands Using the 6-Byte Format
Word 2
Word 1
Word 0
Immediate Command Definition
Ref
Byte 5
Byte 4
Byte 3
Byte 2
Byte 1
Byte 0
xx
xx
xx
xx
00
00h
Null
4.01
xx
xx
xx
RO%
00
20h
Rate Override
RO% = 0 ...120%
4.02
xx
xx
*
Incr
00
21h
Position Increment Without Position Update
Incr. = -128 ... +127 User Units
4.03
Velocity
00
22h
Move At Velocity
Vel. = -MaxVelUu … +MaxVelUu
4.04
Position
00
23h
Set Position
Pos. = -MaxPosnUu ... + MaxPosnUu-1
4.05
xx
xx
Analog Output
00
24h
Force Analog Output
Analog Output = -32,000 ... + 32,000
4.06
xx
xx
*
Incr.
00
25h
Position Increment With Position Update
Incr. = -128 ... +127 User Units
4.07
xx
xx
xx
In Posn Zone
00
26h
In Position Zone
Range = 0 ... 255
4.08
Position or Parameter #
Move
Type
27h
Move Command
Pos. = -MaxPosnUu ... + MaxPosnUu-1
Par # = 0 ... 255
4.09
Velocity
00
28h
Jog Velocity
Vel. = +1 … +MaxVelUu
4.10
Acceleration
00
29h
Jog Acceleration
Acc. = +1 ... + MaxAccUu
4.11
xx
xx
Time Constant
(0.1 ms units)
00
2Ah
Position Loop Time Constant
Time Constant = 0 - 65535 (0.1 ms
units)
4.12
xx
xx
VFF (0.01%
units)
00
2Bh
Velocity Feedforward
VFF = 0 ... 12000 (0.01% units)
4.13
xx
xx
Integr. TC
00
2Ch
Integrator Time Constant
Time Constant = 0, 10 ... 10,000 ms
4.14
Ratio B
Ratio A
00
2Dh
Follower A/B Ratio
Ratio A = –32,768 … +32,767
Ratio B = +1 ... +32,767
4.15
xx
xx
xx
VLGN
00
2Eh
Velocity Loop Gain (Digital mode only)
VLGN = 0 ... 255
4.16
xx
xx
Torque Limit
(0.01% units)
00
2Fh
Torque Limit (Digital mode and Analog Torque
Mode only)
Range = 0-10000 (0.01% units)
4.17
Position
00
31h
Set Aux Encoder Position
4.18