SMC Provider User's Guide - Carafa Christian Engineering
Contents
1. MCHG SmcWSetMotionChangeReady SmcWMotionChange Cao Variable get Value INI PLS SmeWGetPulseType SmcWGetPulseDuty INI_CNT SmcWGetCounterMode INI_DIO SmcWGetCtrlInOutLog SmcWGetCtrlTypeInQ SmcWGetCtrlTypeOut INI_ENC SmcWGetEncType SmcWGetErcAlmClearTime SmcWGetErcMode INI_ORG SmcWGetOrgLog SmcWGetOrgMode INI_EXT SmcWGetSAccelType SmcWGetSDMode SmcWGetInFilterType MV_RDY SmcWGetReady MV_CHGRDY SmcWGetMotionChangeReady MV_STSPD SmcWGetStartSpeed MV_TGSPD SmcWGetTargetSpeed MV_ACCTM SmcWGetAccelTime MV_DECTM SmcWGetDecelTime MV_RESPD SmcWGetResolveSpeed MV_SFSPD SmcWGetSSpeed MV_STPPOS SmcWGetStopPosition MV_ZCNT SmcWGetZCountMotion CNT PLS SmcWGetOutPulse CNT ENC SmcWGetCountPulse CNT_ENZ SmcWGetZCount LTC PLS SmcWGetLatchOutPulse LTC_ ENC SmcWGetLatchCountPulse STS PLS SmcWGetPulseStatus STS_ MOV SmcWGetMoveStatus STS_STP SmcWGetStopStatus STS_LMT SmcWGetLimitStatus STS_SPD SmcWGetMoveSpeed LMT_MASK SmcWGetLimitMask HOLD OFF SmcWGetHoldOff ALM CODE SmcWGetAlarmCode SIG_DO SmcWGetDigitalOut SIG DI SmcWGetDigitalln ERROR Cao Variable put Value INI PLS SmcWSetPulseType SmcWSetPulseDuty INI_CNT SmcWSetCounterMode INI_DIO SmcWSetCtrlInOutLog SmoWSetCtrITypeln SmcWSetCtrlTypeOut INI_ENC SmcWSetEncType SmcWSetErcAlmClearTime SmcWSetErcMode2. 2 2 7 CaoExtension Execute method Syntax Execute lt bstrCommand BSTR gt lt vntParam VARIANT gt lt pVal VARIANT gt bstrCommand in Command name vntParam in Parameter pVal out Acguired data Refer to Table 2 6 for available command name 2 2 8 CaoExtension AddVariable method Creates a variable object used to access the specified axis of SMC board Only the variables given in 2 4 2 can be used If a variable other than those is specified this method will return an error Syntax AddVariable lt bstrName BSTR gt lt bstrOption BSTR gt bstrName in Arbitrary name bstrOption in Option character string not used 2 2 9 CaoExtension GetVariableNames property Acquires the variable name list in 2 4 2 2 2 10 CaoVariable get_Value property Acquires information corresponding to a variable For the implementation status and acquired data of each variable refer to 2 4 2 2 2 11 CaoVariable put_Value property Configures information corresponding to a variable For the implementation status and setting data of each variable refer to 2 4 2 ORiN Forum DENSO WAVE Inc SMC provider user s guide 9 2 3 List of commands 2 3 1 Controller class Table 2 5 CaoController Execute command list Command name Data type Parameter Explanation ProviderCancel Set cancel state For the case all objects Axisl are set to MotorOut 0 No
3. ORIN Forum DENSO WAVE Inc SMC provider user s guide 21 INI_ORG SmcWSetOrgLog SmcWSetOrgMode INI_ EXT SmcWSetSAccelType SmcWSetSDMode SmcWSelnFilterType Q MV_RDY MV_CHGRDY AMV STSPD SmcWSetStartSpeed AMV TGSPD SmcWSetTargetSpeed MV_ACCTM SmcWSetAccelTime MV_DECTM SmcWSetDecelTime MV_RESPD SmcWSetResolveSpeed AMV SFSPD SmcWSetSSpeed WMV STPPOS SmcWSetStopPosition MV_ZCNT SmcWSetZCountMotion CNT PLS SmcWSetOutPulse CNT_ENC SmcWSetCountPulse CNT_ENZ LTC_PLS ALTC ENG 4STS PLS ASTS MOV ASTS STP ASTS LMT ASTS SPD LMT MASK SmcWSetLimitMask HOLD_ OFF SmceWSetHoldOff ALM CODE ASIG DO SmcWSetDigitalOut ASIG DI ERROR Refer to CONTEC API SMC WDM Help for details of SMC API ORIN Forum DENSO WAVE Inc SMC provider user s guide 22 3 Sample Program The following shows the code to execute origin return of the SMC board Axis No 1 and move to the point No 1 after checking that the origin return is completed List 3 1 Sample frm Dim Eng As CaoEngine Dim Ctrl As CaoController Dim ExtAxis As CaoExtension Dim VarlniPls As CaoVariable Dim VarMov As CaoVariable Dim VarSpd As CaoVariable Private Sub Form_Load Create CAO engine Set Eng New CaoEngine
4. ORIN Forum DENSO WAVE Inc SMC provider user s guide Prepare for starting basic operation and acquire motor operation type operation start direction 1 lt Element 1 MotionType gt Set the motor operation type 0 No operation 1 PTP operation 2 JOG operation 3 Origin return operation 6 Z phase counting operation lt Element 2 StartDir gt Acquire motor operation start direction 0 Positive direction CW 1 Negative direction CCW Note This variable is used for acquisition only Setup will be performed automatically when a MOV command is executed Acquire the motor operation change type 1 Motor operation change type 0 Change to starting speed FL speed immediately 1 Change to target speed FH speed immediately 2 Change to starting speed FL speed after deceleration 3 Change to target speed FH speed after acceleration 4 Change operation speed and acceleration deceleration 5 Change motor stop position 6 Change motor stop position by PCS signal Note This variable is used for acquisition only Setup will be performed automatically when a MCHG command is executed Set acquire starting speed of pulse output 1 Unit PPS Default 100 Operation speed setting range SMC 4 8DL series 0 2929687 to 9829800 SMC 4 8DF series 0 073242187 to 6553500 Note Specifying 1 makes the default effective Set acquire target speed of pulse output 1 Unit PPS Default 1000 Operation speed set
5. 217 727 other than 0 Note This variable is used for acquisition only Setup will be performed automatically when MOVP or MCHG command is executed OMV ZCNT VT ARRAY VT I2 Set acguire Z phase counting operation 1 v v lt Element 1 ZMoveCount gt Set Z phase count number used in Z phase counting operation Default 1 Setting range 1 to 16 lt Element 2 ZLog gt Set input signal logic for Z phase signal 0 Falling edge default 1 Rising edge Note Specifying omissible element or 1 makes the default effective This setting cannot be used on SMC 4 8DL series ACNT PLS VT 14 A cguire set the number of feedback output pulses 1 Settable range 134 217 728 to 134 217 727 CNT_ENC VT H Acquire set encoder count value 1 Settable range 134 217 728 to 134 217 727 ACNT ENZ VT I2 Acquire Z phase count in Z phase counting operation executed at origin return or Z phase count in Z phase counting operation 1 LTC PLS VT H Acquire the number of feedback output pulses 1 latched by LTC signal input LTC_ENC ORiN Forum VITH lt el Acquire encoder counter value 1 latched by LTC signal input DENSO WAVE Inc SMC provider user s guide 17 STS_PLS Acquire pulse output status 1 0 Pulse output stopped Constant speed operation with starting speed FL speed in process 2 Constant speed operation with target speed FH s
6. FH speed immediately Change to starting speed FL speed after deceleration Change to target speed FH speed after acceleration Change operation speed and acceleration deceleration Change motor stop position Change motor stop position by PCS signal lt Element 2 Coordinate gt Reguired only when Element 1 is 5 Set the coordinate type of the position 0 Absolute coordinate 1 Relative coordinate lt Element 3 StopPosition gt Reguired only when Element 1 is 5 Set the stop position Settable range Absolute coordinate 134 217 728 to 134 217 728 Relative coordinate 134 217 728 to 134 217 72 other than 0 Refer to API SMC WDM Help for details ORIN Forum DENSO WAVE Inc SMC provider user s guide 11 2 4 Variable list 2 4 1 Controller class Table 2 7 Controller class system variable list Attribute Variable name Data type Explanation ERROR VT 14 Read the last error code 1 of SMC driver function v 1 Refer to API SMC WDM Help for details 2 4 2 Extension board class Table 2 8 Extension board class system variable list Attribute Variable name Data type Explanation Set acquire an initial setting parameter related to pulse output 1 N lt Element 1 PulseMode gt Set the pulse output mode 0 Common pulse type OUT Negative logic DIR High DIR Low Common pulse type OUT Positive logic DIR High DIR Low Common pulse type OUT N
7. pulse counter 2 Clear encoder counter 3 Clear output pulse counter and encoder counter Note Specifying omissible element or 1 makes the default effective VT ARRAY Set acguire an initial setting parameter related to control input output signal 1 VT 2 lt Element 1 IoLog gt Set logic of control input output signal 0 0 0 0 0 OUT3 OUT2 OUT1 LIM IN IN6 INS IN4 IN3 IN2 IN1 Setting range 0 to 7FF Hex Setting value of each bit 0 Negative logic 1 Positive logic Default 0 negative logic for all lt Element 2 InType gt Set the control input signal type general input ALM INP SD LTC PCS CLR 0 0 IN6 CLR INS PCS IN4 LTC IN3 SD IN2 INP IN1 ALM Setting range 0 to 3F Hex Default 1 IN1 used for alarm ALM signal input lt Element 3 Outl gt lt Element 4 Out2 gt lt Element 5 Out3 gt Set the control output signal type for OUT to 3 0 General output default 1 Alarm clear signal 2 Error counter clear signal ERC 3 Count match signal of output pulse counter CP 1 4 Count match signal of encoder counter CP2 5 Hold off signal Note Specifying omissible element or 1 makes the default effective ORIN Forum DENSO WAVE Inc SMC provider user s guide 13 INL ENC VT ARRAY Set acquire an initial setting parameter related to encoder 1 lt Element 1 EncType gt Set the encoder input type 0 A B 1 multiplication default 1
8. A B 2 multiplication 2 A B 4 multiplication 3 U D 4 Not used lt Element 2 ErcTime gt Set the width of error counter clear signal 0 12 usec default 1 102 usec 2 408 usec 3 1 6 msec 4 13 msec 5 52 msec 6 104 msec 7 Level output lt Element 3 ErcOffTimer gt Set OFF timer for error counter clear signal 0 O usec default 1 12 usec 2 1 6 msec 3 104 msec lt Element 4 AlmTime gt Set the width of alarm clear signal 0 12 usec default 1 102 usec 2 408 usec 3 1 6 msec 4 13 msec 5 52 msec 6 104 msec lt Element 5 ErcMode gt Specify ERC signal automatic output setting 01010101010 bitl bit0 Setting range 0 to 3 Hex bt 0 ERC signal not output when LIM or ALM signal input causes a stop 1 ERC signal output automatically when LIM or ALM signal input causes a stop bitl 0 ERC signal not output when origin return is completed 1 ERC signal output automatically when origin return is completed Default 0 VT I2 Note Specifying omissible element or 1 makes the default effective ORIN Forum DENSO WAVE Inc SMC provider user s guide 14 VT ARRAY Set acquire an initial setting parameter related to origin return 7 lt Element 1 OrgLog gt VT 2 Set origin input logic and edge 0 Falling edge negative logic default 1 Falling edge positive logic 2 Rising edge negative logic 3 Rising edge positive logic lt Element 2 Li
9. Connect to SMC Set Ctrl Eng Workspaces 0 AddController Sample CaoProv CONTEC SMC DeviceName SMC000 Create extension board class of Axis No 1 Set ExtAxis Ctrl AddExtension Axis1 Create variables Set VarlniPls ExtAxis AddVariable INI_PLS Create system variable related to pulse output setting Set VarMov ExtAxis AddVariable STS_MOV Create system GSP for operation status check Set VarSpd ExtAxis AddVariable OMV TG A system e for target speed setting Initial setting related to Motor driver VarlniPls Array 5 Origin return performed in CCW direction ExtAxis Execute ORG 1 End Sub Private Sub Command1_Click Wait until origin return is completed Do While VarMov lt gt 0 DoEvents Loop VarSpd 500 Set WE SCH to 500PPS ExtAxis Execute MOVP Array 1 Move by 5000 pulses in CW direction on relative coordinate Wait during operation Do While VarMov lt gt 0 DoEvents Loop End Sub ORiN Forum DENSO WAVE Inc
10. EE 9 2 4 VariablEilist 4 22 Ala delate dia ah een nenn eee ee 11 2 4 1 GOntroller Classars 2n Geert R EE ak dee EN geben re 11 2 4 2 Extension board class 2 2 a a near ehenkehen le 11 E m 0 ge 0 0 SOR RR PPE Rr ee re Ee eee 19 2 6 CAO SMC API reference table 19 Se oaMmple PIOGEAM casein teh see Nettes 22 ORIN Forum DENSO WAVE Inc SMC provider user s guide ZA 1 Introduction This document is a user s guide of the SMC provider which is used to access CONTEC SMC board Refer to CONTEC API SMC WDM Help for details NOTE SMC device driver of the SMC board needs to be installed to use the SMC provider Install the driver from CONTEC API PAC W32 After installing it register the provider in the registry with reference to Table 2 1 ORIN Forum DENSO WAVE Inc SMC provider user s guide 5 2 Outline of Provider 2 1 Outline The SMC provider executes CONTEC API corresponding to CAO API at the time the CAO API is executed Refer to Table 2 10 for CAO API and corresponding CONTEC API Table 2 1 SMC provider File name CaoProvSMC dll ProgID CaoProv CONTEC SMC Registry registration regsvr32 CaoProvSMC dll Remove registry registration regsvr32 u CaoProvSMC dll The SMC board driver must be installed to register the SMC provider ORIN Forum DENSO WAVE Inc SMC provider user s guide 6 2 2 Methods and properties 2 2 1 CaoWorkspace AddController meth
11. I error OxFFF gt SMC API error 0x80100FFF Refer to CONTEC API SMC WDM Help for details of SMC API 2 Error returned from SMC provider itself Table 2 9 SMC provider unigue error code list Error name Error code Explanation E PROV CANCEL 0x80180001 Operation stop due to provider cancel 3 ORiN2 common errors Refer to the error code section in ORiN2 Programming Guide 2 6 CAO SMC API reference table The SMC provider offers two ways to execute commands using CaoExtension Execute and Cao Variable The CaoExtension Execute method executes API function that performs operation CaoVariable executes API function that sets acquires a value Table 2 10 Controller class extension board class variable class and corresponding SMC API CAO API SMC API Class method Parameter command variable CaoWorkspace AddController DeviceName SmcWlnit CaoWorkspaces Remove SmcWExit CaoController AddExtension Axis All functions of SmcWGet group SmceWSetInitParam CaoExtension Execute STOP SmcWMotionStop DSTP SmcWMotionDecStop ALMCLR SmcWSetAlarmClear ERCOUT SmcWSetErcOut ORG SmcWSetReady SmcWMotionStart MOVP SmcWSetStopPosition SmcWSetReady SmcWMotionStart MOVIJ SmcWSetReady SmcWMotionStart ORIN Forum DENSO WAVE Inc SMC provider user s guide 20
12. Meaning of signal SD Deceleration stop limit ALM Alarm emergency stop limit Setting value 0 No change 1 Change Set acquire hold off signal 1 0 Axis hold 1 Axis hold released Note One of INI_DIO Out to 3 must be set to Hold off signal Acquire alarm code 1 Acquired value indicates the status of INS to IN7 If alarm code output is available from the driver unit connect the driver unit to INS to IN7 on the board Refer to the motor driver unit manual for details of alarm codes For put Acguire set general output signal data 1 lt Element 1 OutData gt used for both put and get VT_ARRA Set general output signal data Y VTR 0 0 0 0 0 OUT3 OUT2 OUTI 1 OUT 1 bit 2 OUT 2 bit 4 OUT 3 bit lt Element 2 OutDataEnable gt used for put only Set the bit to change data for general output signal Only the bit that specifies general output for OUTI to 3 signal types by INI_DIO can be set to 1 0 0 0 0 0 OUT3 OUT2 OUTI 0 Disabled 1 Enabled Acquire general input signal data 1 0 IN IN6 INS IN4 IN3 IN2 IN 0 Signal OFF 1 Signal ON 1 Refer to API SMC WDM Help for details ORIN Forum DENSO WAVE Inc SMC provider user s guide 19 2 5 Error code The SMC provider has the following two types of unique error code 1 Error returned from SMC API An error number returned from SMC API is returned after masking it with 0x80100 Example SMC AP
13. SMC provider user s guide 1 SMC Provider CONTEC SMC Board Version 1 0 3 User s Guide October 25 2012 Remarks ORiN Forum DENSO WAVE Inc SMC provider user s guide 2 Revision history Version Content 2011 7 27 First edition 2011 9 27 Manual was corrected 2012 5 29 Meta mode was added 2012 7 17 Version rule of the document was changed 2012 10 25 ProviderCancel and ProviderClear commands were added Hardware Model Version SMC 4DL PE SMC 4DF PCI ORIN Forum DENSO WAVE Inc SMC provider user s guide 3 Contents DO CIUGTORI 26s BASED ea Cas ny 4 2 RT lt ee TEE 5 el 5 2 2 Methods and Properties an srin eene an as a Heel 6 2 2 1 CaoWorkspace AddController method AA 6 2 2 2 CaoController Execute Method renn 6 2 2 3 CaoController AddVariable method 6 2 2 4 CaoController GetVariableNames property AA 7 2 2 5 CaoController AddExtension method 7 2 2 6 CaoController GetExtensionNames property eee een n 8 2 2 7 CaoExtension Execute method 8 2 2 8 CaoExtension AddVariable method 8 2 2 9 CaoExtension GetVariableNaMes proper 8 2 2 10 CaoVariable get Value property 44 e4eeeee2eeeeee eee nen eee nenene GR K een 8 2 2 11 GaoVariable put Value proper 8 E DEE ge L e Ile EE 9 273 1 engel TEE 9 2 3 2 Extension board Class
14. egative logic DIR Low DIR High Common pulse type OUT Positive logic DIR Low DIR High 2 pulse type Negative logic default 2 pulse type Positive logic 90 degree phase difference mode OUT Advanced signal DIR Delayed signal 90 degree phase difference mode OUT Delayed signal DIR Advanced signal lt Element 2 DirTimer gt Insert weight in changing direction 0 OFF 1 ON default Note Available for common pulse type only lt Element 3 Duty gt Set duty ratio 0 Vary by pulse output speed 1 Duty ratio fixed at 50 Default DL series 1 DF series 0 Note Specifying omissible element or 1 makes the default effective ORiN Forum DENSO WAVE Inc SMC provider user s guide 12 VT ARRAY Set acquire an initial setting parameter of counter operation 1 u lt Element 1 ClearCntLtc gt VT 2 Clear counter when LTC signal changes from OFF to ON Set the counter type 0 Counter not cleared default 1 Clear output pulse counter 2 Clear encoder counter 3 Clear output pulse counter and encoder counter lt Element 2 LtcMode gt Set the counter type latched at LTC signal input 0 Latch function not used default 1 Latch output pulse counter 2 Latch encoder counter 3 Latch output pulse counter and encoder counter lt Element 3 ClearCntClr gt Clear counter when CLR signal changes from OFF to ON Set the counter type 0 Counter not cleared default 1 Clear output
15. mitTurn gt Set whether or not to have limit inversion during origin return 0 Limit inversion not performed 1 Limit inversion performed default lt Element 3 OrgType gt Set whether or not to use Z phase 0 Not used ORG only default 1 Used ORG Z phase Note Setting 0 disables ZCount setting lt Element 4 EndDir gt Set origin entry direction for origin return end direction of origin return 0 Not specified default 1 Positive direction CW 2 Negative direction CCW lt Element 5 ZCount gt Set the number of Z phase for origin return Setting range 1 to 16 Default 1 Note Specifying 0 disables this setting OrgType is changed automatically to 0 Not used Note Specifying omissible element or 1 makes the default effective VT ARRAY Set acquire other initial setting parameters 1 lt Element 1 SAccelType gt Set whether or not to use S curve acceleration deceleration 0 Not used default 1 Used lt Element 2 SdMode gt Set operation at SD signal input 0 Decelerated to stop default 1 Deceleration only constant speed operation performed with starting speed 2 Decelerated and stopped SD signal latched 3 Deceleration SD signal latched lt Element 3 FilterType gt Set input filter characteristic 0 Filter not inserted default 1 3 2 ec 2 25 ec 3 200 ec 4 1 6 msec VT I2 Note Specifying omissible element or 1 makes the default effective
16. od The SMC provider establishes opens connection to the SMC board when the Controller object is created Syntax AddController lt bstrCtrIName BSTR gt lt bstrProvName BSTR gt lt bstrPcName BSTR gt lt bstrOption BSTR gt bstrCtrIName in Controller name bstrProvName in Provider name Fixed to CaoProv CONTEC SMC bstrPcName in Provider execution machine name bstrOption in Option character string The machine name can be an empty string Following is a list of option string items Table 2 2 Option character string of CaoWorkspace AddController Note Specify the device supporting the SMC board ID 1 1 Refer to API SMC WDM Help for details 2 2 2 CaoController Execute method Refer to Table 2 7 for details of available commands and parameters Syntax Execute lt bstrCommand BSTR gt lt vntParam VARIANT gt lt pVal VARIANT gt bstrCommand in Command name vntParam in Parameter pVal out Acguired data 2 2 3 CaoController Add Variable method Creates a variable object used to access the SMC board Only the variables given in 2 4 1 can be used If a variable other than those is specified this method will return an error Syntax AddVariable lt bstrName BSTR gt lt bstrOption BSTR gt bstrName in Arbitrary name bstrOption in Option character string not used ORiN Forum DENSO WAVE Inc SMC provider u
17. peed in process 3 Waiting for synchronous start 4 Waiting for ERC timer to end 5 Waiting for direction change timer to end 6 Acceleration in process 7 Deceleration in process 8 Waiting for INP input cquire motor operation status 1 0 Stopped 1 PTP operation in process 2 JOG operation in process 3 Origin return in process 4 Banking in process single 5 Banking in process loop Acquire cause of motor stop 1 0 In operation Stop command Deceleration stop command Stop of another axis Alarm emergency stop signal Positive direction limit stop signal Negative direction limit stop signal 7 Deceleration stop signal 255 End of operation function STS_LMT Acquire limit status 1 a bit7 0 0 0 SD ORG LIM LIM ALM bit0 ALM Alarm emergency stop limit LIM Positive direction limit LIM Negative direction limit ORG Origin limit SD Deceleration stop limit Setting value 0 Disabled 1 Enabled Acquire pulse output speed during operation 1 Ac ORIN Forum DENSO WAVE Inc SMC provider user s guide 18 For put Set acquire use of limit signal 1 lt Element 1 LimitMask gt used for both put and get VT_ARRA Set acquire use of limit signal v vrn 0 0 0 0 0 0 ALM SD Meaning of signal SD Deceleration stop limit ALM Alarm emergency stop limit Setting acquired value 0 Limit enabled 1 Limit disabled lt Element 2 LimitMaskEnable gt used for put only 01010 0 0 0 ALM SD
18. ser s guide 7 2 2 4 CaoController GetVariableNames property Acquires the variable name list in 2 4 1 2 2 5 CaoController AddExtension method Creates CaoExtension that operates the SMC extension board Syntax AddExtension lt bstrName BSTR gt lt bstrOption BSTR gt bstrName in Extension board name bstrOption in Option character string The table below shows available extension board name Table 2 3 Extension board name list Extension board name Data type Explanation law arase Specify the controlt rset motor atts number Lor Keh Toe VT_BSTR Specify the control target motor axis number 1 or higher 1 of the SMC board at Specify the logical number after the variable name Example Axis1 1 The number of axes differs by the SMC board model Refer to API SMC WDM Help for details The table below shows available option character string Table 2 4 Option character string of CaoController AddExtension Option Meaning MotorOut lt Motor output gt Allocate general output signal for motor output destination 0 Not allocated default 1 General output signal 1 OUT1 2 General output signal 2 OUT2 3 General output signal 3 OUT3 Refer to API SMC WDM Help for details ORIN Forum DENSO WAVE Inc SMC provider user s guide 8 2 2 6 CaoController GetExtensionNames property Acquires the extension board name list in 2 2 5
19. thing is executed A normal execution result S_OK is returned For the case other than MotorOut 0 The STOP command is executed after the motor output signal of the object Axisl is forced to turn OFF An error execution result E PROV CANCEL is returned ProviderClear Clear cancel state Nothing is executed A normal execution result S_OK is returned 2 3 2 Extension board class Table 2 6 List of commands of CaoExtension Execute Command e 7 Data type Parameter Explanation name STOP Stop DSTP Decelerated and stopped ALMCLR Output alarm clear signal pulse ERCOUT 0 Output ERC signal Output error 1 Reset ERC signal counter clear ERC signal Operation direction 0 CW 1 CCW Return to origin ORIN Forum DENSO WAVE Inc SMC provider user s guide 10 lt Element 1 Coordinate gt Move to Set the coordinate type of the position specified 0 Absolute coordinate 1 Relative position coordinate lt Element 2 StopPosition gt Set the stop position Settable range Absolute coordinate 134 217 728 to 134 217 728 Relative coordinate 134 217 728 to 134 217 72 other than 0 Operation direction 0 CW 1 CCW JOG move Motor operation change while in operation Speed or stop lt Element 1 ChangeType gt position change Set the motor operation change type during 0 Change to starting speed FL speed operation immediately Change to target speed
20. ting range SMC 4 8DL series 0 2929687 to 9829800 SMC 4 8DF series 0 073242187 to 6553500 Note Specifying 1 makes the default effective Set acquire acceleration time 1 Unit ms Default 50 0 Set to target speed immediately without taking acceleration process Note Specifying 1 makes the default effective ORiN Forum Set acquire deceleration time 1 Unit ms Default 50 0 Use the value set by MV_ACCTM as deceleration time Note Specifying 1 makes the default effective DENSO WAVE Inc SMC provider user s guide 16 Set acquire speed resolution 1 Unit PPS v v Default 1 Speed resolution set range SMC 4 8DL series 1 0 2929687 to 600 SMC 4 8DF series 1 0 073242187 to 100 Note Specifying 1 makes the default effective Set acguire S curve zone 1 Unit PPS V V Default 400 0 Perform S curve operation without straight zone maximum S curve operation Note Specifying 1 makes the default effective This setting becomes effective when S curve acceleration deceleration is set to 1 Used by INI EXT MV_STPPOS VT_ARRAY VT H Acquire motor stop position total output pulse v lt Element 1 StopPositionAbs gt Stop position of absolute coordinate Absolute coordinate range 134 217 728 to 134 217 727 lt Element 2 StopPositionRel gt Stop position of relative coordinate Relative coordinate range 134 217 728 to 134
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