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Parker Hannifin
Chapter 6 Command Reference 143
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 comm
and.
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.
SMPER
Maximum Allowable Position Error
Type
Servo
Product Rev
Syntax
<a_>SMPER<i>
Aries 2.0
Units
i = Feedback device steps
Range
Ø to 2,147,483,647
Default
4ØØØ
Response
SMPER: <*>4ØØØ
See Also
ERES, TPE, TPC, TPER
This command is only valid in DMODE6 or 7 (position m
ode). SMPER allows
you to set the maximum position error allowed before an error condition
occurs. The position error, monitored once per system update period, is the
difference between the commanded position and the actual position as read
by the feedback device selected with the last SFB command. When the