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MNEMONIC FUNCTION TYPE
SF Stall Factor Variable Encoder Variable
DESCRIPTION
If the encoder is enabled (EE = 1) and the encoder differs from the motor by more than the specified factor, a STALL is indicated. If
SM is set to 0, then the motor will be stopped when a STALL is detected.
USAGE UNITS RANGE DEFAULT
SF=<counts> Encoder counts 0 to 65000 10
EXAMPLE:
SF=20 ‘Set the stall factor to twenty counts. If the motor falls behind by more than 20 encoder counts a stall is detected.
RELATED COMMANDS: EE, SM, ST
MNEMONIC FUNCTION TYPE
SM Stall Detection Mode Variable Encoder Variable
DESCRIPTION
The SM variable specifies the action which will be taken by the MDrive Motion Control when a stall is detected. When set to 0
(default) the motion will be stopped upon a stall detection. When SM=1, the motor will continue to move. In either case ST (Stall
Flag) will be set.
USAGE DEFAULT
SM = <0/1> 0 (Stop Motor)
EXAMPLE:
SM=0 ‘stop motor when a stall is detected
SM=1 ‘do not stop motor upon a stall
RELATED COMMANDS: EE, SF, ST
MNEMONIC FUNCTION TYPE
SL Slew Axis Instruction Motion Instruction
DESCRIPTION
The SL instruction will slew the axis at the specified velocity in counts per second. The axis will accelerate at the rate specified by
the A (Acceleration) variable.
Note that the maximum slew velocity is independant of the maximum velocity specified by the VM variable. If a slew is commanded
at a velocity greater than the setting of VM, the axis will accelerate to that velocity regardless of the setting of VM.
USAGE UNITS RANGE
SL <±velocity> ± Counts per sec ±5000000
EXAMPLE:
SL=20000 ‘slew the axis at 20000 counts/sec
RELATED COMMANDS: A, D, MS, MR