8 GCS Commands
156
Version: 1.2.1
MS249E
C-863.12 Mercury Controller
Arguments:
<AxisID> is one axis of the controller, if left out, all axes are
affected.
Response:
None
Troubleshooting:
Illegal axis identifier
Notes:
Servo mode must be switched on with SVO (p. 195) for the
commanded axis prior to using this command (closed-loop
operation).
If the reference move was successful, absolute motion will
then be possible in closed-loop operation.
The value of the parameter 0x16 is set as the current
position when the axis is at the reference switch.
You can use a digital input instead of the reference switch
as source of the reference signal for the FRF command. For
further information, see "Digital Input Signals" (p. 83).
The motion can be stopped by #24 (p. 128), STP (p. 195)
and HLT (p. 158).
Use FRF? (p. 156) to check whether the reference move
was successful.
Use FNL (p. 153) or FPL (p. 154) instead of FRF (p. 155) to
do a reference move for an axis that has no reference
switch but limit switches.
For best repeatability, referencing must always be done in
the same way. The FRF command always approaches the
reference switch from the same side, no matter where the
axis is when the command is called.
For further information, see "Travel Range and Soft Limits"
(p. 25).
FRF? (Get Referencing Result)
Description:
Queries whether the specified axis is referenced or not.
Format:
FRF? [{<AxisID>}]
Arguments:
<AxisID> is one axis of the controller.