PI E-871.1A1N, User Manual, Page: 133 / 226

GOH Go To Home Position
Used in: Motion in closed-loop operation (32)
Description: Moves the specified axis to the zero position.
Long description GOH{
␣
<AxisID>} identical to MOV{
␣
<AxisID>
␣
0} (p. 149) .
The motion can be stopped by #24 (p. 119) , STP (p. 162) , and
HLT (p. 141) .
Servo mode must be switched on for the specified axis (axes)
(closed-loop operation). HID control may not be activated for the
corresponding axis.
Format: GOH[{␣<AxisID>}]
Arguments: <AxisID> Axis ID
If multiple axes are specified in the command, they are moved syn-
chronously.
If no arguments are specified, all axes are moved synchronously.
Troubleshooting: Illegal axis identifier
Servo mode not active (
SVO? (p. 163) responds with the value "0")
HAR? Indicate Hard Stops
Used in: Reference point definition options (40)
Description: Queries whether the hard stops of the specified axis can be used for
reference moves.
Long description The E-871.1A1N's firmware uses the Use Hard Stops for Referenc-
ing
(p. 195) parameter (0x7A) to determine whether the hard stops
of the axis can be used for reference moves. Depending on the val-
ue of this parameter, the E-871.1A1N activates or deactivates refer-
ence moves that use the hard stops.
Format:
HAR?[{␣<AxisID>}]
Arguments: <AxisID> Axis ID
Response: {<AxisID>=<uint>
␊
}
<AxisID> Axis ID
<uint> Can hard stops of the axis be used for reference
moves? (BOOL)
Troubleshooting: Illegal axis identifier
9 COMMAND REFERENCE PZ285EN
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