Subject to change without notification
Subject to change without notification
23
Using the command
np
, a position can be set up which sends back the letter “p” when that
position is reached. A higher-ranking control system can thus initiate various actions depend-
ent on the position of the drive, for example to carry out complex compound movement
sequences. As soon as the position is reached and the “p” value is sent back, this switch will
be released again; the command
np
must be entered again in order to reset the switch to
generate a response from the next programmed movement.
The command
gnp
is used to request a feedback of the drive’s position. If the position switch
is inactive, either because no
np
command has been issued or because the position has already
been reached, the word “zero” will be sent back.
To cancel a positioning action which is already under way, use the command
v 0
.
The following commands are available for positioning actions:
Command Function Description
m
Initiate Motion Activate position control and start positioning action
la
Load Absolute Position Load a new requirement for absolute position
lr
Load Relative Position Load a new requirement for relative position
ho
Set Home Position Set the current position value
gp
Get Position Read the current position location
np
Notify Position When the required position reference is reached,
feed back a “p”
pos
Get Notify Position Read the position reference, at which the value “p”
will be fed back
sp
Maximum Velocity Set maximum speed [1/
min
]
gsp
Get Speed Read value of maximum permitted speed [1/
min
]
ac
Acceleration Slope of the acceleration and deceleration ramps [1/s
2
]
gac
Get Acceleration Read value of the slope of the acceleration and
deceleration ramps [1/s
2
]
aca
Acc. for Accelerating Slope of acceleration ramp [1/s
2
]
gaca
Get ACA Read value of the acceleration ramp [1/s
2
]
acb
ACC. for Breaking Slope of deceleration ramp [1/s
2
]
gacb
Get ACB Read value of the deceleration ramp [1/s
2
]
