SIXpack 2 – Manual (V1.10 / January 29
th
, 2010)
40
7.2
Driving Ramps
Query Position and Activity
CMD
$20
P0
motno (0...5)
P1
response address
response
CMD
$20
P0
motno (0...5)
P1,2,3,4 #
posact
(signed long): current position
P5
Current action (0: inactive, 5: ramp, 10: PI-controller, 15: rotation, 20 – 29: reference switch
search, 30: mechanical reference)
P6
bit 0:
stop
-
status
. 1=Stop-condition has occurred. Flag is cleared after read.
Query Velocity and Activity
CMD
$21
P0
motno (0...5)
P1
Response address
Response
CMD
$21
P0
motno (0...5)
P1,2 #
Vact
(integer): actual velocity
P3
Current
action(0:
inactive,
5:
ramp,
10:
PI-controller,
15:
rotation,
20 – 29: reference switch search, 30: mechanical reference)
Start search of Reference
First the motor is stopped. The motor optionally drives fast (vrefmax), searching for the position of the switch.
When the switch is found, the motor is driven back to the point, where the switch becomes inactive. Then it is
slowly driven with vmin towards the switch to find the exact position. If the switch cannot be found again at
slow speed where it had been found before, or if no switch is seen during 125% of the drive limit-range, the
whole procedure repeats by first stopping again, which may give another chance to hold grip for an axis out
of control. After the reference point has been identified via the reference point switch the position is set to
null respectively to null-offset and the motor resumes its previous operation e.g. by driving a to the actual
position
posact
, where the reference search started, if CMD $16 P5, Bit0=0 (s. CMD $16).
($22 and CMD $15, P5, Bit2 start the same action!)
CMD
$22
P0
motno (0...5)
