103
Command Reference List
Section 6-2
6-2
Command Reference List
6-2-1
Motion Control Commands
The table below outlines the motion control commands. Refer to the specified
pages for details.
6-2-2
I/O Commands and Functions
The table below outlines the I/O commands and functions. Refer to the speci-
fied pages for details.
Name
Description
Page
ADD_DAC
ADD_DAC allows a secondary encoder to be used on a servo
axis to achieve dual feed-back control.
115
ADDAX
ADDAX sets a link to a superimposed axis. All demand posi-
tion movements for the superimposed axis will be added to
any moves that are currently being executed.
117
BASE
BASE is used to set the base axis to the axis specified with
axis.
121
CAM
CAM moves an axis according to values of a movement pro-
file stored in the Table variable array.
123
CAMBOX
CAMBOX moves an axis according to values of a movement
profile stored in the Table variable array. The motion is linked
to the measured motion of another axis to form a continuously
variable software gearbox.
124
CANCEL
CANCEL cancels the move on an axis.
125
CONNECT
CONNECT connects the demand position of an axis to the
measured movements of the axis specified for
driving_axis to
produce an electronic gearbox.
127
DATUM
DATUM performs one of 7 origin search sequences to posi-
tion an axis to an absolute position or reset a motion error.
129
DEFPOS
DEFPOS defines the current position as a new absolute posi-
tion.
131
FORWARD
FORWARD moves an axis continuously forward at the speed
set in the SPEED parameter.
141
MOVE
MOVE moves one or more axes at the demand speed, accel-
eration and deceleration to the position specified as increment
from the current position.
157
MOVEABS
MOVEABS moves one or more axes at the demand speed,
acceleration and deceleration to the position specified as
absolute position, i.e., in reference to the origin.
158
MOVECIRC
MOVECIRC interpolates 2 orthogonal axes in a circular arc.
159
MOVELINK
MOVELINK creates a linear move on the base axis linked via
a software gearbox to the measured position of a link axis.
160
MOVEMODIFY
MOVEMODIFY changes the absolute end position of the cur-
rent single-axis linear move (MOVE or MOVEABS).
163
RAPIDSTOP
RAPIDSTOP cancels the current move on all axes.
173
REVERSE
REVERSE moves an axis continuously in reverse at the
speed set in the SPEED parameter.
179
Name
Description
Page
AIN
AIN provides four analog channels which contain the Servo
Driver monitor data signals.
117
GET
GET waits for the arrival of a single character and assigns the
ASCII code of the character to
variable.
142
IN
IN returns the value of digital inputs.
151
INDEVICE
INDEVICE parameter defines the default input device.
151