DMX-CAN Manual
page 32
rev 1.6
On-The-Fly Target Position Change
On-the-fly target position change can be achieved using the
T[value]
command. While
the motor is moving,
T[value]
will change the final destination of the motor. If the motor
has already passed the new target position, it will reverse direction once the target
position change command is issued.
Note:
If a
T
command is sent while the controller is not performing a target move, the
command is not processed. Instead, an error response is returned.
Jogging
Jogging is available for continuous speed operation. Use
J+
and
J-
commands to jog in
positive or negative direction.
Stopping Motor
When the motor is moving, jogging, or homing, using the
ABORT
command will
immediately stop the motor. Using the
STOP
command will decelerate the motor to low
speed before stopping.
Homing
Home search sequence involves moving the motor towards the home or limit switches
and then stopping when the relevant input is detected. The DMX-CAN has four different
homing routines:
Home Input Only (High speed only)
Use the
H+/H-
command. Figure 7.2 shows the homing routine.
Figure 7.2
A.
Starts the motor from low speed and accelerates to high speed.
B.
As soon as the home input is triggered, the position counter is reset to zero and
the motor begins to decelerate to low speed. As the motor decelerates, the
position counter keeps counting with reference to the zero position.
C.
Once low speed is reached, the motor stops. The position is non-zero.
