HE set group e-stop deceleration
IMM PGM MIP
USAGE ♦ ♦ ♦
SYNTAX xxHEnn or xxHE?
PARAMETERS
Description xx [ int ] - group number
nn [ float ] - vector e-stop deceleration value
Range xx - 1 to MAX GROUPS
nn - maximum of deceleration values assigned to all axes in
the group to 2e9 * encoder resolution.
Units xx - none
nn - predefined units / second
2
Defaults xx missing: error 13, GROUP NUMBER MISSING
out of range: error 14, GROUP NUMBER OUT OF RANGE
not assigned: error 15, GROUP NUMBER NOT ASSIGNED
floating point: truncated
nn missing: error 7, PARAMETER OUT OF RANGE
negative: error 22, GROUP PARAMETER OUT OF RANGE
out of range: error 22, GROUP PARAMETER OUT OF RANGE
DESCRIPTION This command is used to set the vectorial e-stop deceleration value for a group.
This value will be used during coordinated motion of axes assigned to the group.
It will override any original e-stop deceleration values specified for individual
axes using AE command. The axes’ original values will be restored when the
group to which they have been assigned is deleted.
This command takes effect immediately. It can be executed when controller is
idling or motion is in progress or inside a program.
E-stop deceleration is invoked upon a local e-stop condition (e.g., front panel
“Stop All” push button, interlock, etc…) has occurred, if configured to do so, or
if the AB (abort motion) command is processed.
RETURNS If “?” sign takes the place of nn value, this command reports the current setting.
REL. COMMANDS HN - create a new group
HV - set vectorial velocity for a group
HA - set vectorial acceleration for a group
HD - set vectorial deceleration for a group
EXAMPLE 1HN1,2 | create a new group (#1) with physical axes 1 and 2
1HE100 | set vectorial e-stop deceleration of group #1 to 100 units/second
2
1HE? | query vectorial e-stop deceleration of group #1
100 | controller returns a value of 100 units/second
2
3-70 Section 3 – Remote Mode
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