Chapter 6 Command Reference - 127 -
current setting of both the motor and load viscous damping terms (DMTD) as
shown in the equation below.
commandvelocity DMTD torque velocity Estimated
100% valueSGVF
=
43421
Setting SGVF to one (1) theoretically produces zero (0) following errors during
the constant velocity portion of a move profile. This assumes that the drive or
motor are not being current limited, the values for viscous damping are
accurate and the models used for analysis are correct. The value of SGVF
can be adjusted from zero to as high as five (5) times (SGVF5) the theoretical
value.
Example
SGVF2 ; Set velocity feedforward to 200% of theoretical value
SHALL
Hall Sensor Configuration
Type
Drive Configuration
Product Rev
Syntax
<a_>SHALL<i>
Aries 1.0
Units
i = control option number
Range
Ø (do not invert) or 1 (invert)
Default
Ø
Response
SHALL: <*>Ø
See Also
ALIGN, RESET, THALL
Note: This command does not take effect until you cycle power to the drive,
or send the RESET command.
The SHALL command controls the logic sense of the Hall sensors. To invert
the sensors, use the SHALL1 command. To check the present value of the
Hall sensors, use the THALL command.
SMAV
Maximum Acceleration in Velocity Mode
Type
Tuning
Product Rev
Syntax
<a_>SMAV<i>
Aries 2.0
Units
i = Acceleration in rev/sec
2
Range
Ø.ØØ to 1ØØØØ.ØØ
Default
1ØØ.ØØ
Response
SMAV: <*>1ØØ.ØØ
See Also
DMODE
This command is only valid in DMODE4 (velocity mode). SMAV allows you to
control the maximum acceleration permitted in velocity mode. Use this
command to protect the mechanical systems from overly aggressive velocity
changes. This command is scaled by the (ERES) command.
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