ElmoMC SimplIQ Command Reference - Manual (Page 84)

Function 0: Inhibit (freewheel)
Servo is off (MO=0). The motor is not under control. No current is applied through the
motor phases. If the motor was previously running, it will continue to coast on its own
inertia. The motor fault code (see the
MF command) is 0x10. If the unit mode is UM=1
(torque control) or UM=2 (velocity control) and an external command is active (RM=1), a
motor restart will be attempted when the switch is “not active.” This attempt is made
within a few (no less than 10) milliseconds. In addition, when restarting the motor the
#@AUTO_ENA automatic routine can be activated.
Function 1: Hard stop immediately under control
The function behavior depends on the unit mode:
UM Action
Torque (UM=1) Set torque command to zero.
Speed (UM=2) Set speed command to zero immediately at the deceleration of
the SD parameter.
Position (UM=3, 4, 5) Slow down to complete stop using the deceleration of the SD
parameter.
Table 3-20: UM Values for Hard Stop
Function 2: Input is ignored
This serves no function in the system and always reads zero in the IP/IB[N] indications.
Function 3: General purpose (GPI)
No special function. Serves as an uncommitted input. The input may be used in the user
program and homing sequences as simple digital input. In addition, general purpose
inputs can activate ##AUTO_DIN automatic routines in the user program.
Function 4: Hard-reverse limit switch
The function activates the ##AUTO_RLS routine in the user program. In addition, it has
the following unit mode dependent actions:
UM Action
Torque (UM=1) Allow only positive torque commands. Negative torque
demands yield zero motor current.
Speed (UM=2) Allow only positive speed command (external or internal). If, at
the time of switch sensing, the speed command was negative,
the speed command will converge to zero using the stop
deceleration (SD).
Position (UM=3, 4, 5) Allow only positive position command increments (external
and internal). If, at the time of switch sensing, the speed was
negative, the position command will decelerate to complete
stop using the deceleration of the SD parameter.
Table 3-21: UM Values for Hard Reverse
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
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