8 GCS Commands
C-863.12 Mercury Controller
MS249E
Version: 1.2.1
155
Troubleshooting:
Illegal axis identifier
Notes:
Servo mode must be switched on with SVO (p. 195) for the
commanded axis prior to using this command (closed-loop
operation).
If the reference move was successful, absolute motion will
then be possible in closed-loop operation.
The positive physical limit of the travel range is
represented by the positive limit switch of the positioner.
The sum of the values of the parameters 0x16 and 0x2F is
set as the current position when the axis is at the positive
limit switch.
You can use a digital input instead of the positive limit
switch as source of the positive limit switch signal for FPL.
For further information, see "Digital Input Signals" (p. 83).
Motion can be stopped by #24 (p. 128), STP (p. 195) and
HLT (p. 158).
Use FRF? (p. 156) to check whether the reference move
was successful.
For best repeatability, referencing must always be done in
the same way.
If soft limits (parameters 0x15 and 0x30) are used to
reduce the travel range, the limit switches cannot be used
for reference moves.
For further information, see "Referencing" (p. 28) and
"Travel Range and Soft Limits" (p. 25).
FRF (Fast Reference Move To Reference Switch)
Description:
Starts a reference move.
Moves the specified axis to the reference switch and sets
the current position to a defined value. See below for
details.
If multiple axes are specified in the command, they are
started simultaneously.
Format:
FRF [{<AxisID>}]