131
Command, function and parameter description
Section 6-3
6-3-50
DECEL
Type:
Axis Parameter
Description:
The DECEL axis parameter contains the axis deceleration rate. The rate is
set in units/s
2
. The parameter can have any positive value including zero.
See also:
ACCEL, AXIS, UNITS
Example:
DECEL = 100
’Set deceleration rate
PRINT " Deceleration rate is ";DECEL;" mm/s/s"
6-3-51
DEFPOS
Type:
Motion Control Command
Syntax:
DEFPOS(
pos_1
[
, pos_2
[
, pos_3
]]
)
Alternative:
DP(
pos_1
[
, pos_2
[
, pos_3
]]
)
Description:
The DEFPOS command defines the current demand position (DPOS) as a
new absolute position. The measured position (MPOS) will be changed
accordingly in order to keep the following error. DEFPOS is typically used
after an origin search sequence (see DATUM command), as this sets the cur-
rent position to zero. DEFPOS can be used at any time.
As an alternative also the OFFPOS axis parameter can be used. This param-
eter can be used to perform a relative adjustment of the current position.
DEFPOS works on the default basis axis (set with BASE) unless AXIS is used
to specify a temporary base axis.
Precaution:
The changes to the axis position made using DEFPOS or OFFPOS are made
on the next servo update. This can potentially cause problems when a move
is initiated in the same servo period as the DEFPOS or OFFPOS.
The following example shows how the OFFPOS parameter can be used to
avoid this problem. DEFPOS commands are internally converted into OFF-
POS position offsets, which provides an easy way to avoid the problem by
programming as follows:
DEFPOS(100)
WAIT UNTIL OFFPOS = 0
MOVEABS(0)
Arguments:
pos_i
The absolute position for (base+i) axis in user units. Refer to the BASE com-
mand for the grouping of the axes.
See also:
AXIS, DATUM, DPOS, OFFPOS, MPOS, UNITS
Example:
The last line defines the current position to (–1000,–3500) in user units. The
current position would have been reset to (0,0) by the two DATUM com-
mands.
BASE(2)
DATUM(5)
BASE(1)
DATUM(4)
WAIT IDLE
DEFPOS(-1000,-3500)
6-3-52
DEL
Type:
Program Command
Syntax:
DEL
[
“program_name”
]
Alternative:
RM
[“
program_name”
]