8 GCS Commands
152
Version: 1.2.1
MS249E
C-863.12 Mercury Controller
only.
➢
If incorrect system behavior does not cause the
controller to send an error code, check whether the
error code is queried regularly in the background by a
macro, script or the PC software (e.g., PIMikroMove).
If the cause of an error continues, the corresponding error
code is immediately set again after a query with ERR?.
FED (Find Edge)
Description:
Moves the specified axis to a specified signal edge.
FED does not set a certain position value at the selected
edge (in contrast to the FNL (p. 153), FPL (p. 154), and FRF
(p. 155) commands for referencing), i.e., the axis is not
"referenced" after using FED.
If multiple axes are specified in the command, they are
moved synchronously.
Format:
FED {<AxisID> <EdgeID> <Param>}
Arguments:
<AxisID> is one axis of the controller.
<EdgeID> is the type of edge the axis has to move to. See
below for available edge types.
<Param> depends on the selected edge and qualifies it.
See below for details.
Response:
None
Troubleshooting:
Illegal axis identifier; limit switches and/or reference
switch are disabled (see below); SVO? (p. 196) responds
with the value 0.
Notes:
Servo mode must be switched on with SVO (p. 195) for the
commanded axis prior to using this command (closed-loop
operation).
The C-863.12 firmware detects the presence or absence of
reference switch and limit switches using parameters (ID
0x14 for reference switch; ID 0x32 for limit switches). The
C-863.12 activates or deactivates FED motion to the
appropriate signal edges according to the values of those
parameters. Adapt the parameter values to your hardware
using SPA (p. 190) or SEP (p. 186). See "Parameter
Overview" (p. 239) for more information.