Parker Automation Gemini GV6K, Command Reference Manual

Page: 242 / 362

240 Gemini GV6K/GT6K Command Reference
Example:
PS ; Stop execution of command buffer until !C command
MA0 ; Select incremental positioning mode
D10000 ; Set distance to 10000 units
GO1 ; Initiate motion
; ********************************************************************
; * NOTE: *
; * No commands after the PS command will be executed until a !C *
; * command is received. *
; ********************************************************************
PSET
Establish Absolute Position
Type
Motion
Syntax
<a_><!>PSET<r>
Units
r = units (absolute position)
Range
±
999,999,999.99999
Default
n/a
Response
n/a
See Also
D, [ FB ], GO, HOM, INFNC, MA, MC, [ PC ], [ PCC ], [ PCE ],
[ PCMS ], [ PE ], PESET, PMESET, SCALE, SCLD, SFB, TFB, TPC,
TPCC, TPCE, TPCMS, TPE
Product Rev
GT6K 6.0
GV6K 6.0
Use the
PSET
command to offset the current absolute position to establish an absolute position reference .
To remove the offset, issue the
PSET CLR
command. All
PSET
values entered are in steps, unless scaling is
enabled (
SCALE1
), in which case (
PSET
) is multiplied by the distance scale factor (
SCLD
).
Steppers – without scaling : The
PSET
command will define the present commanded position to be the
absolute position entered. To set an encoder absolute position, use the
PESET
command.
Servos – without scaling : The
PSET
command defines a new absolute position reference. If the drive is
enabled (
DRIVE1
), the present commanded position is used as the reference point. If the drive is
disabled (
DRIVE0
), the present feedback device position (selected with the
SFB
command) is
used as the reference point.
SERVO AXES
The
PSET
offset value is specific only to the feedback source selected with the last
SFB
command.
If your application requires switching between feedback sources, then you must select the
feedback source with the appropriate
SFB
command and issue a
PSET
value specific to that
feedback source. (Each feedback source can have a separate offset.)
NOTE: If you issue a
PSET
command, any previously captured positions (
INFNCi-H
function) will be
offset by the
PSET
value.
If a software end-of-travel limit has been hit, the
PSET
command will not remove the error condition. The
error condition is removed by commanding motion in the opposite direction.
Example:
PSET0 ; Wherever the present actual or commanded position happens to be,
; consider that position to have an absolute position of zero.
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