GE Fanuc UR9AH Module

GE Fanuc UR9AH Module New In Stock

Description

An E2 COMMREQ is used to change the ramp mode of an output channel. This is the same COMMREQ that is used to change the input alarm limits of the module and clear the %I error code. When the module receives the COMMREQ, the first word, or command word, is checked to determine whether the ramp settings or alarm limits are being changed or whether the %I error code is being cleared. When step mode is specified, the second COMMREQ data word contains the ramp step in %AQ counts. Valid step values range from 1 to 32000. The direction of the ramp is determined when the value of the corresponding %AQ reference changes. Once the ramp mode and step have been set, changing the corresponding %AQ value causes the output to ramp to the new value. When time mode is specified, the second COMMREQ data word contains the total time in milliseconds it will take for the output to ramp from the present output value to the final output value. The present and final values are specified by the old and new values of the corresponding %AQ reference. Valid ramp time values range from 1 to 32000, which correspond to ramp times of 1 millisecond to 32 seconds. Once the ramp mode and time have been set, changing the corresponding %AQ value causes the output to ramp to the new value. If an E2 COMMREQ is issued to the module to change the ramp settings while the indicated output is in the process of ramping, the new ramp settings will take effect as follows.

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