Parker TQ10X, User Manual

Page: 90 / 139

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Software Commands 81
PS—Pause
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Command Type: Programming
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Valid Software Version: A
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Syntax: <a>PS
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Units: N/A
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Range: N/A
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Default Value: N/A
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Attributes: Buffered,
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See Also: C, U
Savable in Sequence
This command pauses execution of a command string or sequence until the controller
receives a Continue (C) command. PS lets you enter a complete command string before
running other commands. PS is also useful for interactive tests and synchronizing multiple
controllers that have long command strings.
Command Description
PS Pauses execution of commands until the controller receives the Continue
(C) command
A5 Sets acceleration to 5 revs/sec
2
V5 Sets velocity to 5 revs/sec
D4ØØØ Sets move distance to 4,000 encoder counts
G Executes the move (Go)
T2 Delays the move for 2 seconds
G Executes the move (Go)
C Continues Execution
When the controller receives the C command, the motor moves 4,000 encoder counts twice
with a 2 second delay between moves.
PX—Report Absolute Encoder Position
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Command Type: Status
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Valid Software Version: A
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Syntax: aPX
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Units: Encoder counts
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Range: ±1,073,741,820
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Default Value: N/A
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Attributes: Buffered,
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See Also: PR, PZ
Savable in Sequence
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Response to aPX *±nnnnnnnnn
This command reports the actual motor position as measured by the encoder. When a D
command is issued, the distance is relative to the value of PR not the value of PX. The
difference between the commanded position (PR) and the actual encoder position (PX) is
the position error (DPE). The controller is always trying to minimize the position error.
You can reset the encoder position counter to zero by using the position zero (PZ) com-
mand or reset (Z). After PZ the encoder position (PX) will be set to zero. If there was a
position error before the PZ was issued, the value of PR will differ from the value of PX by
the amount of the position error. Increasing integral gain (CIG) can help reduce the
position error at rest thus insuring the value of PR equals the value of PX.
Command Description
MN Set to mode normal
PZ Sets the absolute counter to zero
A1Ø Sets acceleration to 10 rev/sec2
V5 Sets velocity to 5 rev/sec
D46ØØ Sets move distance to 4,600 encoder counts
G Executes the move (Go)
1PX After the motor executes the move, the encoder position is reported: The
response is *+0000004600.
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