SMAC CBC-EIP - Velocity Move

23
3.4 Velocity move
This AOI is used to perform velocity move.
Velocity move AOI: input and output parameters
Parameter
Unit
Description
INPUIT
Busy
N/A
This bit is active when the AOI is being
executed, until the Done bit is active
OUTPUT
Target Velocity
Counts/s
Final velocity the actuator is intended to
achieve during the motion profile
Profile Acceleration
Counts/s
2
Max. acceleration of the motion profiler
Profile Deceleration
Counts/s
2
Max. deceleration of the motion profiler
Max Torque
‰ of motor
rated current
Max. permissible torque/force. Unless this
parameter is specified, the default value from
config. file is used.
Enable
N/A
Enables the AOI. Tis needs to be included in the
program after the AOI rung is energized.
Ladder logic example:
Mapping between velocity move AOI parameters and PLC IO data assemblies
Byte address
Description
Input: 2 - 5
44: Velocity move in progress (Busy bit)
Output: 0 - 3
Macro value of Velocity move (Table 3)
Output: 4-7
Target velocity
Output: 8-11
Profile acceleration
Output: 12 - 15
Profile deceleration
Output: 16-19
Max Torque