3-12
Limit Command Field is filled with the value that corresponds to the limit or operation that is
to be executed, along with the Vertical or Horizontal Absolute Position to be Set Field if needed,
and then issue the appropriate CIP command from the PLC. CIP Setup is similar to the Move
Command, except that the attribute field is set to 0xc0ff and the source element field points to
the above Limit Command Buffer. The following is a list of commands that can be executed.
Figure 3-4.1.2 Limit Commands
3-5.1 TORQUE LIMIT COMMANDS
Torque Limit Commands are used to set operational safety limits and calibration commands
to the cannon. There are separate torque limits for the horizontal, vertical up and vertical down
movements, along with limits for vertical and horizontal detection of movement stoppage. The
structure of the PLC buffer for the Torque Limit Commands is as follows.
Figure 3-5.1.1 PLC Torque Limit Command Buffer
Torque Limit Command Field is filled with the value that corresponds to the operation that
is to be executed, along with either the 16 bit integer value or the 32 bits IEEE 754 floating
point value, and then issue the appropriate CIP command from the PLC. CIP Setup is similar
to the Move Command, except that the attribute field is set to 0xb3ff and the source element
field points to the above Torque Limit Command Buffer. The following is a list of Torque Limit
Commands that can be executed.
Torque Limit
Command
Operational Description
Integer Value Field
Floating Point Value Field
0x01
Set Vertical Up Minimum Torque ( Slow Speed Base )
Not Used
Vertical Up Minimum Torque Value
0x02
Set Vertical Up Torque Slope ( Slow to Fast Speed Mulitplier )
Not Used
Vertical Up Torque Slope
0x03
Set Vertical Down Minimum Torque ( Slow Speed Base )
Not Used
Vertical Down Minimum Torque Value
0x04
Set Vertical Up Torque Slope ( Slow to Fast Speed Mulitplier )
Not Used
Vertical Down Torque Slope
0x05
Set Horizontal Minimum Torque ( Slow Speed Base )
Not Used
Horizontal Minimum Torque Value
0x06
Set Horizontal Torque Slope ( Slow to Fast Speed Mulitplier )
Not Used
Horizontal Torque Slope
0x07
Vertical Non Movement Minimum Speed
Minimum Average Vertical Movement Speed
Not Used
0x08
Horizontal Non Movement Minimum Speed
Minimum Average Horizontal Movement Speed
Not Used
0x09
Vertical Movement Speed Margin
Vertical Speed Margin
Not Used
0x0a
Horizontal Movement Speed Margin
Horizontal Speed Margin
Not Used
0x0b
Minimum Vertical PWM for Lowest Speed Operation
Minimum Vertical PWM
Not Used
0x0c
Minimum Horizontal PWM for Lowest Speed Operation
Minimum Horizontal PWM
Not Used
0x0d
Vertical PWM Slope
Not Used
Vertical PWM Slope
0x0e
Horizontal PWM Slope
Not Used
Horizontal PWM Slope
Figure 3-5.1.2 Torque Limit Commands
