Delta MMC120 - Manual (Page 85)

85
Command Value: Unused
This command restores a previously saved Integral Drive value. The Integral Drive value
that is restored is taken from a buffer internal to the motion controller that will set using
the Save Integral Drive command. The Integral Drive will be set to 0 if no previous Save
Integral Drive command was issued. The Save/Restore Integral Drive pair can be used to
unwind the integrator while in the middle of a move.
For example, suppose the integral drive is saved while the move is taking place. If during
the move, the axis gets stuck and the integrator winds up, then the integral drive can be
restored after the cause of the stall is fixed to avoid an overshoot.
For alternative ways to unwind the integrator, see the
Set Integral Drive and Set Integral
Drive to Null Drive commands.
Save Null Drive Command
Character: S
Decimal: 83
Hexadecimal: 053
Command Value: Unused
The Save Null Drive command saves the current value of the null so it can be recalled
later with a Restore Null Drive command ('R').
Save Integral Drive Command
Character: s (lower case S)
Decimal: 115
Hexadecimal: 073
Command Value: Unused
This command saves the current value of the Integral Drive so it can be recalled later
with a Restore Integral Drive command ('r'). For details on the uses of these two
commands, see Restore Integral Drive .
Update FLASH Command
Character: U
Decimal: 85
Hexadecimal: 055
Command Value: Data to Save (1=Parameters and Profiles; 2=Event Steps)