Parker TQ10X, Руководство пользователя

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80 TQ10X User Guide
OSH—Reference Edge of Home Switch
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Command Type: Set-Up
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Valid Software Version: A
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Syntax: <a>OSHn
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Units: NA
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Range: n = Ø, 1
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Default Value: Ø
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Attributes: Buffered,
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See Also: GH, OSB, OSC, OSD
Savable in Sequence
OSHØ: Selects the CW side of the Home signal as the edge on which the
final approach will stop
OSH1: Selects the CCW side of the home signal as the edge on which the
final approach will stop
The CW edge of the Home switch is the first switch transition seen by the controller when
traveling from the CW limit in the CCW direction. If n = 1, the CCW edge of the Home
switch will be referenced as the Home position. The CCW edge of the Home switch is the
first switch transition seen by the controller when traveling from the CCW limit in the CW
direction. If n = Ø, the CW edge of the Home switch will be referenced as the Home
position.
Command Description
OSB1 Sets back up to home switch active
OSCØ Sets active state of home input closed (low)
OSH1 Selects the CCW side of the home signal as the edge on which the final
approach will stop
The home limit becomes active when the home limit input is closed. The controller
recognizes the CCW edge of the switch as the home limit and backs up to that edge to
complete the Go Home move.
PR—Absolute Position Report
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Command Type: Status
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Valid Software Version: A
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Syntax: aPR
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Units: Encoder counts
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Range: ±1,073,741,820
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Default Value: N/A
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Attributes: Buffered,
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See Also: D, MPA, MPI, MN, PZ, PX
Savable in Sequence
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Response to aPR is *±nnnnnnnnnn
This command reports the commanded motor position relative to the power-up position.
When a D command is issued, the distance is relative to the value of PR. The difference
between the commanded position (PR) and the actual encoder position (PX) is the position
error (DPE). The controller is always trying to minimize the position error. You can reset
the encoder position counter to zero by using the position zero (PZ) command or reset (Z).
After PZ the encoder position (PX) will be set to zero. If there was a position error before
the PZ was issued, the value of PR will differ from the value of PX by the amount of the
position error. Increasing integral gain (CIG) can help reduce the position error at rest thus
insuring the value of PR equals the value of PX.
Command Description
1PR Commanded position report. (*+ØØØØØØ2ØØØ)
1PX Encoder position report (*+ØØØØØØ2ØØ5)
The actual motor position is 5 encoder counts from the commanded position.
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