8 GCS Commands
194
Version: 1.2.1
MS249E
C-863.12 Mercury Controller
Example:
Send:
SRG? 1 1
Receive:
1 1=0x9002
Note: The response is in hexadecimal format. It means that
axis 1 is on target (on-target state = true), the servo mode
is ON for that axis, no error has occurred, the states of
digital input lines 1 to 4 are low, and axis 1 is on the
positive side of the reference switch.
STE (Start Step And Response Measurement)
Description:
Starts a step and records the step response for the
specified axis.
The data recorder configuration, i.e., the assignment of
data sources and record options to the recorder tables, can
be set with DRC (p. 145).
The recorded data can be read with the DRR? command (p.
148).
Format:
STE <AxisID> <Amplitude>
Arguments:
<AxisID> is one axis of the controller
<Amplitude> is the size of the step. See below for details.
Response:
None
Troubleshooting:
Servo mode must be switched on for the commanded axis
prior to using this command (closed-loop operation).
The target position must be inside the soft limits. Use
TMN? (p. 198) and TMX? (p. 199) to ask for the current
valid soft limits, and MOV? (p. 178) for the current target.
Motion commands like STE are not allowed when the
joystick is active for the axis. For further information see
"Joystick Control" (p. 89).
Notes:
A "step" consists of a relative move of the specified
amplitude which is performed relative to the current
position.