User Manual Chapter 6
GFK-1742F Jan 2020
Non-Programmed Motion 169
6.4 Force Servo Velocity Command (DIGITAL
Servos; Analog Torque Mode)
This command bypasses the position loop and forces a velocity RPM command to the digital
servo or Analog Torque Interface for tuning purposes. Acceleration control is not used and
changes in velocity take effect immediately. A Force Servo Velocity command value of
+4095 will produce a motor velocity of + 4,095 RPM and -4095 will produce a motor velocity
of -4,095 RPM (depending on individual motor maximum velocities). The digital servo
control loops may limit actual motor speed to a lower value.
CAUTION
Care should be taken not to operate a servomotor beyond its rated duty cycle.
The Enable Drive %Q bit must be active with no other motion commanded for the Force
Servo Velocity command to operate. The command must remain continuously in the %AQ
data for proper operation. When a Force Servo Velocity command is active for a given axis,
any other %AQ immediate command for that axis will remove the Force Servo Velocity data
and halt the servo. A one-shot Force Servo Velocity command will therefore only operate
during the sweep in which it appears.
Refer to Chapter 5, Motion Mate DSM314 to Host Controller Interface, for more information
on this command.
Note: The Force Analog Output command, described below, is used for analog servos with a Velocity
command interface.
6.5 Force Analog Output Command (ANALOG
Velocity Interface Servos)
In Analog Velocity Interface mode, the Force Analog Output %AQ immediate command
operates the analog output on the DSM faceplate connectors A, B, C, or D. A Force Analog
Output value of +32000 will produce +10.00 Vdc and a Force Analog Output value of -32000
will produce -10.00 Vdc.
Force Analog Output operates only while the %AQ data is active. When a Force Analog
Output command is active for a given axis, any other %AQ immediate command for that axis
will remove the Force Analog Output command and turn off the associated analog output.
Refer to Chapter 5, “Motion Mate DSM314 to Host Controller Interface”, for more
information on this command.
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