Aerotech UNIDEX 600 Series, User Manual

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U600 User’s Guide AerDebug
Version 1.4
Aerotech, Inc.
4-19
4.6.5. CMDERR (axis_number)
The CMDERR command displays the last command error that occurred for the specified
axis number. The range of valid axes is 1 through 16. This information is not intended for
the user. It is for debugging purposes only, since it displays the command error as an
opcode and sub opcode with the byte count of the data transfer between the PC and
UNIDEX 600 Series controller card.
Example:
CMDERR 3 ; show last command error for axis 3
4.6.6. CMDLAST (axis_number)
The CMDLAST command displays the last command for the specified axis number. The
range of valid axes is 1 through 16. This information is not intended for the user. It is for
debugging purposes only, since it displays the command error as an opcode and sub
opcode with the byte count of the data transfer between the PC and UNIDEX 600 Series
controller card.
EXAMPLE:
CMDLAST 4 ; show last command for axis 4
4.6.7. CONFIGD2A (D2A_channel_number)
The CONFIGD2A command allows the user to assign an analog output from a
Digital-to-Analog-Converter (DAC) to an axis to be used as the command output of that
axis. The valid range of DAC channels is determined by the number of DAC channels
present in the user’s system.
A UNIDEX 600/650 controller has 4 channels onboard with 4 additional channels
provided by each additional encoder expansion card. Their channel numbers are
determined by the expansion board number. Expansion board number one will be
channels 5 through 8, board two will be channels 9 through 12, etc.
Attempting to configure an axis for a DAC channel that is not present will cause a
programming error. This error will be indicated by the GETPROG command after the bad
configuration attempt.
EXAMPLE:
CONFIGD2A 4 ; current axis will be assigned D/A channel 4 to drive
; its motor