SIXpack 2 – Manual (V1.10 / January 29
th
, 2010)
42
Set actual Position
Forces the internal position counter to any position. Can lead to unintended reference searches at detection of
zero switches.
CMD
$27
P0
motno (0...5)
P1,2,3,4 #
posact
: new actual position (32 bit signed long)
Query all Motor Activities, Request delayed Response
Each axis can be queried for activity with this command. When delayed response is requested, the
PACK
will
send the response as soon as all concerned motors are inactive. The response contains the actual action of all
motors.
Attention! In RS 485 mode with multiple slaves this command can lead to bus collisions! To avoid this, the
bus should not be used for other transactions while waiting for response.
CMD
$28
P0
response address
P1
mask
for
delayed
response
(Bit
0=Motor
0,
Bit
5=Motor
5)
(0: motor masked, 1: respond only after motor has become inactive)
response
CMD
$28
P0..P5 #
current
action
(0..5) (0: inactive,
5: ramp,
10: PI-controller,
15: rotation,
20 - 29: reference search,
30: mechanical calibration)
Start trapezoidal Ramp in parallel
This command allows a coordinated start movement, by starting multiple motors at the same time. The target
position has to be programmed previously (s. CMD $26).
CMD
$29
P0
mask for ramp (bit 0=motor 0, bit 5=motor 5) (0: motor masked, 1: start motor)
Stop Motors selectively or synchronously
Multiple motors can be stopped at the same time via this command. It sets the target position of each motor
concerned equal to its actual position. However motors driving beyond vstart will overshoot and return driving
another ramp back to the point you set as their new target using this command.
CMD
$2A
P0
Mask for deceleration (Bit 0=Motor 0, Bit 5=Motor 5)
(0: Motor masked, 1: set target position to actual position)
Abort reference search
The reference search for the specified motor is aborted.
CMD
$2B
P0
motno (0...5)
