8 GCS Commands
C-863.12 Mercury Controller
MS249E
Version: 1.2.1
195
STP (Stop All Axes)
Description:
Stops all axes abruptly. See the notes below for further
details.
Sets error code to 10.
This command is identical in function to #24 (p. 128).
Format:
STP
Arguments:
None
Response:
None
Troubleshooting: Communication breakdown
Notes:
STP stops all motion caused by motion commands (e.g.,
MOV (p. 177), MVR (p. 179), GOH (p. 157), STE (p. 194)),
commands for referencing (FNL (p. 153), FPL (p. 154), FRF
(p. 155)), and macros (MAC (p. 171)). Also stops macro
running.
After the axes are stopped, their target positions are set to
their current positions.
HLT (p. 158) in contrast to STP stops motion with specified
system deceleration regarding system inertia.
SVO (Set Servo Mode)
Description:
Sets the servo mode for specified axes (open-loop or
closed-loop operation).
Format:
SVO {<AxisID> <ServoState>}
Arguments:
<AxisID> is one axis of the controller
<ServoState> can have the following values:
0 = servo mode off (open-loop operation)
1 = servo mode on (closed-loop operation)
Response:
None
Troubleshooting: Illegal axis identifier
Notes:
When switching from open-loop to closed-loop operation,
the target is set to the current position to avoid jumps of
the mechanics.
The current state of the servo mode determines the
applicable motion commands: