MOTKA MK-200, Руководство пользователя

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2.8. Testing Our Connections
Having connected all the necessary circuitry described in the above
sections, we can start testing our application by sending a couple of
instructions. To do that, we can use the MOTKA Motion Companion
software or any third party software that can send and receive ASCII
characters such as Microsoft HyperTerminal.
In the example below, we assume a servo motor is connected to Axis A.
For more information to tailor your instructions to suit your tests, please
refer to the Command Reference for complete set of instructions and
explanations.
The first instruction is to check for Motor Type (MT). The response of ‘1’
indicates that MK-200 has configured Axis A to operate in servo mode.
Before we can move the motor, it must be enabled by sending the Servo
Enable (SE) instruction to Axis A. We get the first position (GP) and MK-
200 responses with zero. We then move the motor by 10,000 counts
relative to current position. Depending on the tuning of PID parameters
(KP, KI and KD) with respect to the loads, the response of the final
position obtained by GP may be different from the example below.
MT ?
1
SE T
GP ?
0
MR 10000
GP ?
10003