8 GCS Commands
C-863.12 Mercury Controller
MS249E
Version: 1.2.1
153
You can use the digital input lines instead of the switches
as source of the switch signals for FED. For further
information see "Digital Input Signals" (p. 83).
FED can be used to measure the physical travel range of a
new mechanics and therefore to identify the values for the
corresponding parameters: the distance from negative to
positive limit switch, the distance between the negative
limit switch and the reference switch (parameter ID 0x17),
and the distance between reference switch and positive
limit switch (parameter ID 0x2F). For further information
see "Travel Range and Soft Limits" (p. 25).
The motion can be stopped by #24 (p. 128), STP (p. 195)
and HLT (p. 158).
Motion commands like FED are not allowed when the
joystick is active for the axis. For further information see
"Joystick Control" (p. 89).
Available edge
types and
parameters:
The following edge types with their parameter settings are
available:
1 = negative limit switch, <Param> must be 0
2 = positive limit switch, <Param> must be 0
3 = reference switch, <Param> must be 0
FNL (Fast Reference Move To Negative Limit)
Description:
Performs a reference move.
Moves the specified axis to the negative physical limit of
its travel range and sets the current position to a defined
value. See below for details.
If multiple axes are specified in the command, they are
moved synchronously.
Format:
FNL [{<AxisID>}]
Arguments:
<AxisID> is a controller's axis, all axes are affected if not
specified.
Response:
None
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