Newport ESP300 Series, Руководство пользователя, Страница: 148 / 314

PA
move to absolute position
IMM PGM MIP
USAGE
♦ ♦ ♦
SYNTAX xx PA nn or xx PA ?
PARAMETERS
Description xx [ int ] - axis number
nn [float] - absolute position destination
Range
xx - 1 to MAX AXES
nn - any position within the travel limits and within ±2e9 *
encoder resolution.
Units xx - none
nn - defined motion units
Defaults
xx missing: error 37, AXIS NUMBER MISSING
out of range: error 9, AXIS NUMBER OUT OF RANGE
out of range: error xx07, NEGATIVE SOFTWARE LIMIT EXCEEDED
nn missing: error 38, COMMAND PARAMETER MISSING
out of range: error xx04, POSITIVE HARDWARE LIMIT EXCEEDED
out of range: error xx05, NEGATIVE HARDWARE LIMIT EXCEEDED
out of range: error xx06, POSITIVE SOFTWARE LIMIT EXCEEDED
DESCRIPTION
This command initiates an absolute motion. When received, the selected axis xx will move,
with the predefined acceleration and velocity, to the absolute position specified by nn . If
the requested axis is member of a group, this command does not initiate the desired motion.
Instead, error xx31, " COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT"
is generated. Refer HL and HC commands to move along a line or an arc.
If this command is issued when trajectory mode for this axis is not in trapezoidal or s-
curve mode, the controller returns error xx32, “INVALID TRAJECTORY MODE FOR
MOVING”.
Note:
Even though the command is accepted while a motion is in progress, care should be taken
not to reverse direction of motion. When this command is received, the controller verifies
if it will produce a change of direction.
RETURNS If the “?” sign takes the place of nn value, this command reports the current
actual the same as TP?.
REL. COMMANDS
AC - set acceleration
PR - move to relative position
ST - stop motion
MD - move done status
VA - set velocity
EXAMPLE 3VA8 | set velocity of axis #2 to 8 units / s
3PA12.34 | move axis #2 to absolute position 12.34
3-108 Section 3 – Remote Mode