Pacific Laser Equipment C-400 - Manual (Page 12)

Motor controller 4ch User manual
C-400
November 19, 2002 Release: 1.30 2002 by
Pacific Laser Equipment
PLEquipment, 3941 S. Bristol St. Unit D-122, Santa Ana, CA. 92704,
( 509-355-5155, Fax: 509-355-5155, Email: [email protected]
Page 12 of 21
8. Commands
MOTION and SEQUENCING COMMANDS
AB Abort motion
This command stops the motor at the present position; any further motion requirements are ignored.
The target position is changed to be equal to the present position.
FEn Find Edge (n = 0,1)
This command is used to move the system to a given initial position. The direction of motion depends
on the value of n. The target is set to + or - 16,777,013 depending on the value of n. The motor runs at
the programmed speed until the limit switch is activated.
Example: FE0 causes motor to move in a positive direction until the reference input changes
state. If the reference input is high when the command is issued, the motor runs toward the positive
limit until the input changes to low, and vice versa.
FE1 causes the motor to move in a negative direction until the reference input changes state.
These commands assume that your system has the reference input line connected to a reference
switch. FE can be useful in calibrating the home position on start-up or for simply slewing long
distances at the most recent velocity setting.
If limit switches are not in use, a command string such as
"FE0,WS100,WA500,DH,MN" could be used on startup to find the Home position value of a mechanical
stop. This command tells the motor to run toward a target value of +1,000,000,000 until stopped. When
the motor encounters the mechanical stop, the following error will rise quickly, triggering a halt because
of an Excessive Error condition. (See SM command.) This error halt will disable the motor loop, so the
MN command at the end is required to maintain the new position against any forces that might be
attempting to move it. It may be desirable to use the SM command to set the maximum allowable
following error to a low value at the start of motion. Do not forget to restore it to a better working value
after the operation is complete.
Note: This procedure requires that limit switches not be in use. If they are in use, they will automatically
stop motion without causing an Excessive Error condition.
GH Go Home
The Go Home command causes the motor to move to the absolute zero position.
Equivalent to an MA0 (Move to zero position) command.
Example:
GH : Moves motor to zero position.
MA n Move Absolute (- 1,073,741,823< n < 1,073,741,823)
This command generates a motion to the absolute position n. The zero, or home position, may be
redefined by the DH (Define Home) statement. If not otherwise defined, it is the position where the
controller was when powered on.
MA0 : Tells motor to go to Home position
MR n Move Relative
This command generates a motion of relative distance of n counts in the specified direction from the
current motor position. n may be either a positive or negative number. The resulting absolute target
position must be between + and - 1,073,741,823.
Examples:
MR5000 : Motor moves 5,000 counts in positive direction.
MR-330 : Motor moves 330 counts in negative direction.
MR2000,WS100,MR-1200 :