DMX-CAN Manual
page 35
rev 1.6
A.
Issuing the command starts the motor at low speed.
B.
Once the z-index pulse is found, the motor stops and the position is set to zero.
Motor Position
Motor position can be set and read by using the
PX
command.
Encoder position can be set and read by using the
EX
command.
Motor Status
Motor status can be read anytime by reading the response to the
MST
command. The
following is the bit representation of motor status:
Bit
Description
0
Motor running at constant speed
1
Motor in acceleration
2
Motor in deceleration
3
Home input switch status
4
Minus limit input switch status
5
Plus limit input switch status
6
Minus limit error. This bit is latched when minus
limit is hit during motion. This error must be cleared
using the
CLR
command before issuing any
subsequent move commands.
7
Plus limit error. This bit is latched when plus limit is
hit during motion. This error must be cleared using
the
CLR
command before issuing any subsequent
move commands.
8
Latch input status
9
Z-index status
Table 7.3
Examples:
-
When motor status value is 0, motor is idle and all input switches are off.
-
When motor status value is 2, motor is in acceleration.
-
When motor status value is 9, motor is moving in constant high speed and
home input switch is on.
-
When motor status value is 64, motor is in minus limit error. Use
CLR
command to clear the error before issuing any more move commands.
Limit Inputs
If positive limit switch is triggered while moving in positive direction, the motor will
immediately stop and the motor status bit for positive limit error is set. The same is for
the negative limit while moving in the negative direction. Once the limit error is set, use
