Pacific Laser Equipment C-400 - Manual (Page 13)

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 13 of 21
MF Motor OFF
When this command is issued, the motor is no longer held in position (servocontrol is turned off) and
may be moved freely. The MF command is used to prevent unwanted movement or to allow for manual
positioning of the unit. When manually positioned, however, the motor position is still monitored in the
MF status and may be reported by the TP command. The opposite command is MN (Motor ON).
Use caution when turning the motor back on. The target position remains the same as when the MF
command was issued and the motor will try to return there unless the target position is redefined.
To set a manually selected position as the new target position before putting the motor back in the MN
(Motor ON) state use the DH (Define Home) or AB (Abort) command as follows:
AB,MN
DH,MN
The DH command is also useful for determining the encoder resolution. Issue the MF command,
manually position the motor/encoder at some known angle, issue a DH command to set the position to
0, then turn the motor/encoder one revolution.
Now the TP command will report the number of encoder counts/ revolution.
PI stages have incremental
encoders with from 2000 to 4000 counts/ rev.
MN Motor ON
This is the normal system control mode, in which C-400
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controls the axis position continuously. Any
deviation between actual and target position causes the motor to be driven toward the target, possibly
with maximum force, depending on the distance moved during the motor off condition.
Use caution when turning the motor back on. C-400
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keeps track of both the motor and target position
even when in the MF state. When it receives an MN command, The controller will try to return the motor
to the old target, unless the target has been redefined.
Example: MN
RP n Repeat (0 < n < 65,535)
This command causes the command string to repeat n times. If n is not specified, the command(s) in
the string are repeated 65,536 times. The repeat loop may be interrupted by sending any character.
This character should not be the first character of a new command, because it will be discarded.
Example: TE,WA500,RP99
Will display the distance to the target every 500 milliseconds (0.5 second) for a total of 100 times.
WA n Wait (0 < n < 65,535)
This command inserts a wait period of n milliseconds before going to the next command.
Example: MR2000,WA3000,MR-2000
This command line will move the motor by 2,000 steps, then, 3 seconds after the start of the move, the
motor will move back 2,000 steps. Note that the wait period of 3 seconds includes the time the motor is
moving. If the motor is to be at rest for 3 seconds, an additional command must be inserted to prevent
the wait interval from beginning until the motor has completed it's motion:
MR2000,WS100,WA3000,MR-2000
WS n Wait for motor stop
The WS command waits until the motor has reached the end of its trajectory and then waits for another
n milliseconds before continuing to the next command.
Example: MR5000,WS100,TE
This command line moves the motor for 5000 counts and then waits for 100 ms after the motor has
completed the move before executing the TE command (Tell error) and reporting the error.