User Manual
Chapter 6
GFK-1742F
Jan 2020
Non-Programmed Motion
170
6.6
Position Increment Commands
To generate small corrections between the axis position and the DSM314 tracking, the
Position Increment %AQ commands can be used to offset Actual Position by a specific
number of user units. If the Drive Enabled %I bit is ON, the axis will immediately move the
increment amount. If the position increment without position update is used (%AQ
command 21h), the Actual Position %AI status word reported by the DSM314 will remain
unchanged. If the Position Increment with Position Update is used (%AQ command 25h),
the Actual Position and Commanded Position %AI status words reported by the DSM314 will
be changed by the increment value. Position Increment can be used at any time, though
simultaneous use with the Force Servo Velocity command is impossible because the Force
Servo Velocity command must remain in the %AQ command data area or the servo will be
stopped.
6.7
Other Considerations
Other considerations when using non-programmed motion are as follows:
•
The Abort All Moves %Q bit, when ON, will prevent any non-programmed motion
from starting.
•
Turning ON the Abort All Moves %Q bit will immediately stop any current non-
programmed motion at the current Jog Acceleration.
•
A Set Position %AQ command during non-programmed motion will cause a status
error.
•
Turning OFF the Enable Drive %Q bit while performing a home cycle or executing a
Move at Velocity %AQ command will cause a stop error.
•
The Feed Hold %Q bit has no effect on non-programmed motion.
•
The Rate Override %AQ command has no effect on non-programmed motion.
•
Changing the Jog Velocity or Jog Acceleration will not affect moves in progress.