Emerson DSM314 - Page 159

User Manual Chapter 5
GFK-1742F Jan 2020
DSM314 to Host Controller Interface 148
Word 2
Word 1
Word 0
Immediate Command Definition
Ref
Byte 5
Byte 4
Byte 3
Byte 2
Byte 1
Byte 0
Pos. = -MaxPosnUu ... + MaxPosnUu-1
xx
xx
Servo Velocity Cmd
Note: Not used in
Analog Velocity
Mode - See
Force D/A
Output
command
00
34h
Force Servo Velocity
Servo Velocity Cmd = -4,095 ...
+4,095 RPM
4.19
xx
xx
Offset
Mode
40h
Select Return Data 1
4.20
xx
xx
Offset
Mode
41h
Select Return Data 2
4.21
xx
xx
Make-Up Time
00
42h
Follower Ramp Distance Make-Up Time
Active Range = 0, 10 ... 32000 ms
4.22
xx
xx
KpVel
07
46h
Velocity Regulator Proportional Gain (Analog
Torque Mode Only)
KpVel = 0 - 32767
4.23
xx
xx
KiVel
08
46h
Velocity Regulator Integral Gain (Analog
Torque Mode Only)
KiVel = 0 - 32767
4.24
xx
xx
TqFilt mode
0A
46h
Torque Command Filter (Analog Torque Mode
Only)
TqFilt = 0 - 3
4.25
xx
xx
Mode
Axis
47h
Select Analog Output Mode (Digital mode
only)
4.26
xx
xx
xx
xx
00
49h
Clear New Configuration Received
4.27
Parameter Data
Par #h
50h
Load Parameter Immediate
Par # = 0 ... 255
Parameter Data = Range depends on
parameter usage.
4.28
* = Only 00 or FFh are acceptable.
xx = don’t care
4.01 Null. This is the default %AQ Immediate command. Since the %AQ words are
automatically transferred each CPU sweep, the Null command should always be
used to avoid inadvertent execution of another %AQ Immediate command.
4.02 Rate Override. This command immediately changes the % feedrate override value,
which will modify the commanded velocity for all subsequent programmed moves.
This new value will become effective immediately when received by the DSM314. It
is stored and will remain effective until overwritten by a different value. A rate
override has no effect on non- programmed motion or acceleration. Rate Override
is set to 100% whenever a program is initiated. The Rate Override command can be
sent on the same CPU sweep as an Execute Program %Q bit and the Override value