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DMX ETH Manual page 38 rev 1.16
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
10 TOC time-out 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 the positive limit switch is triggered while moving in the positive direction, the motor
will immediately stop and the status bit for the 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
the
CLR command to clear the error. Once the error is cleared, move the motor out of
the limit switch.
The limit error state can be ignored by setting
IERR
=1. In this case, the motor will still
stop when the limit switch is triggered; however, it will not enter an error state.