Logosol LS-173AP, Manual

Page: 10 / 34

Logosol Absolute Positioning Servo Drive LS-173AP
Doc # 712173008 / Rev. 1.06, 05/09/2002
Logosol, Inc.
••
1155 Tasman Drive
••
Sunnyvale, CA 94089 Tel: (408) 744-0974
••
www.logosolinc.com 10
MCL TERMINAL INTERPRETER COMMAND SET
The following commands are available from the Terminal prompt:
POS – returns and sets current position:
1) " POS " returns the positions of all the axes;
2) " POS A1 " returns the position of axis A1;
3) " POS A1=Y " sets the position of axis A1 to the specified value Y.
MAX – returns and sets maximal error (the difference between calculated and real positions):
1) “ MAX ” returns the maximal errors of all the axes;
2) “ MAX A1 ” returns the maximal error of axis A1;
3) “ MAX A1=Y ” sets the error limit of axis A1 to the specified value 0<Y<16383.
VEL – returns and sets velocity in velocity mode or goal velocity in trapezoidal mode:
1) “ VEL ” returns the velocities of all the axes;
2) “ VEL A1 ” returns the velocity of axis A1;
3) “ VEL A1 = Y ” sets the velocity of axis A1 to the specified value Y.
ACC – returns and sets acceleration:
1) “ ACC ” returns the accelerations of all the axes;
2) “ ACC A1 ” returns the acceleration of axis A1;
3) “ ACC A1=Y ” sets the acceleration of axis A1 to the specified value Y.
XST – displays status information:
1) “ XST ” displays status info for all the modules in the network;
2) “ XST A1 ” displays status info for module A1.
Status information for module LS-173AP includes:
1) Address
2) Status byte
3) Auxiliary status byte
4) Encoder position
5) Device ID
6) Version number
7) ADC value.
STA – displays MCL compatible status:
1) “ STA ” returns MCL compatible status of all the axes;
2) “ STA A1 ” returns MCL compatible status of axis A1.
Note: Status 00000400 - position reached;
00000080 - servo off.
INI – resets the network and assigns individual and group addresses.
STO – stops abruptly:
1) “ STO ” stops the movement of all the axes;
2) “ STO A1 ” stops the movement of axis A1.
HAL
– stops smoothly with specified acceleration:
1) “ HAL ” stops the movement of all the axes;
2) “ HAL A1 ” stops the movement of axis A1.