Enable / disable, Miscellaneous instruction summary, Tutorial – Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 User Manual
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Miscellaneous • Miscellaneous Instruction Summary
169
Publication 1398-PM601A-EN-P — October 2000
TUTORIAL
DH
;define current commanded position as zero
DP = 200
;define the current commanded position as 200
DP = 0
;this is equivalent to a DH
DP1 = 100
;define the encoder 1 position (POS1) as 100
These commands change the commanded position. The feedback position is also changed in such a way
as to maintain the same following error that was present before the instruction was executed.
Enable / Disable
The ENABLE and DISABLE commands are used to enable and disable motor torque. These commands
can be issued from three different sources: the application program, an assigned input, or a Host Lan-
guage Command. Any of the three sources can disable the ULTRA Plus or IQ at any time. The only
source that can re-enable the ULTRA Plus or IQ (without resetting the ULTRA Plus or IQ) is the source
that disabled the ULTRA Plus or IQ.
DISABLE
;Disable the motor
ENABLE
;Enable the motor
Miscellaneous Instruction Summary
The following is a summary of the miscellaneous commands discussed in this section. Refer to Part 5
•
Language Reference for more detailed information.
Name
Description
CONFIG = n
Select the ULTRA Plus or IQ configuration
DH
Define the current position as home
DISABLE
Disable the ULTRA Plus or IQ
DP = value
Redefine the current position
DP1 = value
Redefine Encoder1 position
DP2 = value
Redefine Encoder2 position
ENABLE
Enable the ULTRA Plus or IQ