Ocean Optics HL-2000-HP-232 - Manual (Page 18)

A: ASCII Commands
10 000-10000-140-02-201307
Command Function Description Example
DI Disable Drive Execution of this command disables the drive
electronics and removes all current from the
motor DI
EN Enable Drive This instruction enables the drive electronics
and allows the servo controller to become
active, providing motor current as required. EN
LL Load Position Range
Limits The range limit mechanism provides an
additional layer of protection. Both positive and
negative range limits are determined
independently using the sign of the limit
parameter. If the controller receives an
instruction from the host to move to a position
that is not within the range limit window, it will
stop at the set limit position. LL 2000000
or
LL -5000000
Configuration-Related Commands
Command Function Description Example
POR Set Proportional Loop
Gain The proportional gain determines the system's
proportional response to a given amount of
positional error. Increasing this parameter
provides a tighter and more dynamically
responsive system. (Allowed value 0 – 255) POR 20
I Set Integral Loop Gain Unlike the proportional gain, where the
response remains constant if there is no
change in error, the integral term continues to
increase the effects of its response until it
becomes effective. This parameter determines
the rate of change of this response.
(Allowed value 0 – 255)
I 10
LPC Load Peak Current
Limit This command sets the Peak current limit. The
LPC argument is in milliamperes. LPC 1000
LCC Load Continuous
Current Limit This command sets the continuous current limit.
The LCC argument is in milliamperes. LCC 500
RN Reset Node This command resets the gains and current
limits to the values stored in the controller ROM
(the defaults). RN