Delta MMC120 User Manual

Page 80

Hexadecimal: 047 or 067

Command Value: Requested Position, in position units

This command requests the axis to move to the requested position specified in the

COMMAND VALUE

field. The user must make sure that all parameter words are valid

when the Go command is issued. Normally, once the

MODE

ACCELERATION

DECELERATION

, and

SPEED

are set, only the

COMMAND VALUE

needs to be

changed. Once set, a ‘G’ put in the COMMAND word is used to get the axis to move.

NOTE:The ‘G’ command can be given while the axis is in motion. If you do this, the

motion controller will ramp to the new speed at the rate specified by the

ACCELERATION

and

DECELERATION

parameters.

Halt Command

Character: H or h

Decimal: 72 or 104

Hexadecimal: 048 or 068

Command Value: Unused

The HALT command is used for a Soft Stop, jogging the axis, or when the drive power is

off. Putting an 'H' in the Command word while the axis is moving will cause the axis to

ramp down until it stops. Jogging an axis is accomplished by alternating

and HALT

commands. The 'H' command disables the integral gain term and the null update.
If an event sequence is in progress when this command is issued, the event sequence will

be stopped. Compare this command with the

Disable Drive Output

and

Quit Events

commands.

NOTE:Issue a HALT command when hydraulic power is turned off. This prevents the

integrator from winding up.

Set Integral Drive Command

Character: I (Upper case i)

Decimal: 73

Hexadecimal: 049

Command Value: New Integral Drive, in millivolts

This command sets the Integral Drive to the value in the

COMMAND VALUE

field.

This command can be used to unwind the integrator. There are several alternative ways

to unwind the integrator. See also the

Set Integral Drive to Null Drive

Save Integral

Drive

and

Restore Integral Drive

commands.