SMAC CBC-EIP - Softland Move

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3.2 Softland Move
This AOI is used to perform SMAC’s softland move.
Softland Move AOI: input and output parameters
Parameter
Unit
Description
INPUIT
Done bit
N/A
This bit is active when the target position has
been reached.
Soft landed Position
Counts
Position of the actuator after softland action
Busy bit
N/A
This bit is active when the AOI is being
executed, until the Done bit is active
OUTPUT
Soft land direction
N/A
0-positive direction 1- negative direction
Soft land action
N/A
This bit is used to specify the action of the
actuator after softland operation
1: Apply force
2: Hold force
3: Hold position
4: Motor off
Soft land velocity
Counts/s
Max. velocity of the motion profiler
Soft land acceleration
Counts/s
2
Max. acceleration of the motion profiler
Soft land sensitivity
Counts
This tag is used to set the sensitivity of softland.
Smaller value means higher sensitivity.
Max Torque
‰ of motor
rated current
Max. permissible torque/force. Unless this
parameter is specified, the default value from
config. file is used.
Enable bit
N/A
Enables the AOI. Tis needs to be included in the
program after the AOI rung is energized.