Kipp&Zonen 2AP Sun Tracker - Manual (Page 84)

REFERENCE INFORMATION
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Command names are described in the following sections with the two significant letters capitalized.
Only these two letters need be used to specify the command, though the entire word or any portion
more than 2 letters long can be sent to the 2AP if desired. The 2AP ignores the case of characters
in received commands. Commands can be in upper or lower case or any mixture of the two.
Replies from the 2AP are always upper case.
If an unrecognised command, or a command with missing or incorrect parameters, is received the
2AP will respond NO followed by an error code. A complete listing of all error codes and an
explanation for each code is given in section 6.3.
The 2AP is equipped with password protection to ensure that commands which may make
unauthorized changes to critical configuration data are not inadvertently or purposely sent to the
2AP. See the PWord command, section 6.2.1.
6.2.1 Configuration Commands
Sending configuration commands using the CMD utility allows the controller to store information
about the instrument into the 2AP's permanent memory, see section 5.4. These commands are
normally used only in the factory or during maintenance operations.
Changing parameters will affect commands received after the change was implemented. Movement
commands received before the change are not affected, even if the movement does not actually
occur until after the change was implemented
Changing parameters using BA or FU commands may require additional actions for the change to
take effect. For details refer to the descriptions of these commands.
All commands specify positions and times in degrees and seconds. Positions are specified relative
to a user-defined origin. At power-up both motors move to the reference sensor positions.
ACcessory
Retrieve the code indicating which (electronic) accessory is attached. Returns AC .
The is one of the following:
• 0 no accessory.
• 8 sun sensor.
ACcessory
Set the code indicating which accessory is attached. Returns AC. This command is only permitted
after protection has been removed with the PWord command.
AMax
Retrieve the maximum operating acceleration for all motors. Returns AM
. Acceleration is in degrees/second²
AMax
Set maximum operating acceleration for the given motor. Returns AM. Out of range values of
are automatically adjusted into range. The maximum permissible value for
acceleration is determined by the VMax setting. This command is only permitted after protection
has been removed with the PWord command.