Applied Motion 1240i - Manual (Page 18)

SCL Software Manual 18
920-0010 rev B
9/26/07
Commands the drive to follow the position of a low speed quadrature encoder. This instruction is
intended to allow the drive to be manually positioned using a CNC hand wheel. The HW command
terminates when a condition on an input is met. You must include the input and condition in the com-
mand. You must also provide a move increment in motor steps per encoder (hand wheel) count.
Example:
You send
Drive sends Notes
HW4L10 nothing drive follows hand wheel until input 4 is low, 10 steps/count
IA - Immediate Analog
Requests a reading from the analog to digital converter connected to input pin AIN. Value is provided
in hexadecimal. 0 represents 0 volts at the AIN input and 3FF represents 5 volts DC. To convert the
hex value to a voltage, use the formula v = IA * 5 / 1023. For example, if the drive responds with
“IA=2C0”, which converts to
704, the voltage is v = 704 * 5 / 1023 = 3.441 volts.
The IA command is immediate, so it will respond even during moves, WT and WI commands. See
also: RA.
ID – Immediate Distance
Requests present distance, in hex. (Distance is in hex because conversion to ascii of another format
would tax the CPU enough to interfere with a move in progress. Application programs can easily
convert a hex value to integer.)
Example:
You send
Drive sends Notes
ID ID=00002710 +10000 (10,000 steps into cw move)
ID ID=FFFFD8F0 -10000 (10,000 steps into ccw move)
IE – Immediate Encoder
Requests present encoder position, in hex. (Distance is in hex because conversion to ascii of another
format would tax the CPU enough to interfere with a move in progress Application programs can
easily convert a hex value to integer.)
Example:
You send
Drive sends Notes
IE IE=00002710 encoder position is +10000 counts
IE IE=FFFFD8F0 encoder position is –10000 counts
IH – Immediate High Output
Sets output high (open) immediately. Use SO instead if you don’t want the output to change until a
buffered command (like a move) is complete.
You send Drive sends
IH1 output 1 goes high immediately
IH2 output 2 goes high immediately
See also: IL, SO
IL – Immediate Low Output
Sets output low (closed) immediately. Use SO instead if you don’t want the output to change until a
buffered command (like a move) is complete.