Aerotech UNIDEX 600 Series, Руководство пользователя

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U600 User’s Guide AerDebug
Version 1.4
Aerotech, Inc.
4-29
4.6.33. MABSOLUTE (position) (speed)
The MABSOLUTE command moves the axis to the absolute position specified by the
position parameter at the speed specified by the speed parameter. The absolute position is
relative to the home position (see MALTHOME, MHOMEQUICK, etc.) or the position the
axis was at when powering up the system. The machine absolute position registers are set
to zero at power up, then they are reset to zero at the completion of a homing cycle.
The position parameter is in machine steps, it may be specified as positive or negative,
and is in machine steps per second. The axis must be enabled before commanding it to
move. This command should not be used if the axis is executing a command from within a
CNC program. The axis will accelerate and decelerate in the mode, rate/time defined by
the Accel, Decel, AccelMode, DecelMode, AccelRate, and DecelRate axis parameters.
EXAMPLE:
PARMSET A DRIVE 1 ; enable the drive!
MABSOLUTE 10000 2000 ; move to absolute 10,000 machine steps
; position at 2,000 steps per second
4.6.34. MALTHOME (direction) (speed)
The MALTHOME command references the axis to an absolute reference point. The
direction parameter is either 1 or -1 to specify a clockwise or counter-clockwise homing
direction. The speed parameter is in machine steps per second. The axis must be enabled
before commanding it to move. This command should not be used if the axis is executing
a command from within a CNC program. The axis will accelerate and decelerate in the
mode, rate/time defined by the Accel, Decel, AccelMode, DecelMode, AccelRate and
DecelRate axis parameters.
The axis will proceed in the specified direction until encountering the home limit. Then it
will reverse direction, waiting for the home limit to become false, at that point, it begins
looking for the reference pulse (encoder marker pulse or resolve null). When it finds the
reference pulse, it stops at that position and sets the axis position register equal to the
HOMEOFFSET axis parameter. The user may set the HOMEOFFSET axis parameter in
user units by first defining the axis type using the Type axis parameter and entering the
home offset into the HomeOffsetInch (or HomeOffsetDeg for rotary axes) machine
parameter. This will overwrite the HOMEOFFSET axis parameter, setting it to the
correct value for the desired offset in machine steps.
EXAMPLE:
PARMSET A DRIVE 1 ; enable the drive!
MALTHOME -1 2000 ; home direction is counter-clockwise,
; move at 2,000 steps per second