Parker TQ10X, Руководство пользователя

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Software Commands 65
however. Therefore, start with a low value and increase it incrementally.
Refer to Chapter
➃
—Tuning for more information.
Command Description
CTG0 Set the derivative sampling period to 266 µsec
CTG1 Set the derivative sampling period to 532 µsec
CTG2 Set the derivative sampling period to 798 µsec
CTG3 Set the derivative sampling period to 1064 µsec
1CTG Reports derivative sampling period (*CTG3)
D—Distance
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Command Type: Motion
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Valid Software Version: A
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Syntax: <a>Dn
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Units: encoder counts
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Range: n = ±1,073,741,823
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Default Value: 4000
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Attributes: Buffered
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Response to aD is *Dn
Savable in Sequence
❏
See Also: A, G, MN, MPA, MPI, V, H
The Distance (D) command defines either the number of encoder counts the motor will
move or the absolute position it will seek after a Go (G) command is entered. In
incremental mode (MPI), the value set with the Distance (D) command will be the distance
(in encoder counts) the motor will travel on all subsequent Go (G) commands. In absolute
mode (MPA), the distance moved by the motor will be the difference between the present
motor position and the position (referenced to the zero position) set with the D command.
In either mode, the direction is controlled by the direction (+ or -) that precedes the distance
value. The D command has no effect on continuous moves (MC).
In Mode Normal (MN) the position may not exceed the maximum distance range of
1,073,741,823 encoder counts. If the motor approaches the absolute maximum (plus or
minus), the controller will not execute any GO commands that would cause the distance to
exceed the absolute maximum. To proceed further, use the PZ command to reset the
absolute counter to zero, and then resume operations.
If D is entered with only a device address (1D), the controller will respond with the current
distance value. If a move is commanded without specifying a distance, the previously
commanded distance will be applied to the move.
Command Description
MN Sets controller to Normal mode
MPI Sets controller to Incremental Position mode
A1Ø Sets acceleration to 10 revs/sec
2
V1Ø Sets velocity to 10 revs/sec
D4ØØØ Sets distance to 4000 encoder counts
G Executes the move
A servo motor with a 4000 count encoder will travel 1 rev (CW) after G is issued.
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