11
D256000 will set the move to 10 revolution CW
,
acceleration at 10rev/sec²
,
incremental move; a D-
256000 is 10 rev CCW. The distance must be entered before each move. There is not a default distance
and it is reset after each move. Do not enter a distance while the motor is moving.
G
GO
This tells the unit to start the move. It calculates the ramp distances at this time for incremental moves and
enables the limit in the direction of travel.
Example see MA, MI and MC commands
GH
GO HOME
Seeks the CW edge of the home limit at the previously specified velocity, acceleration, and direction. Always
specify the CW direction to ensure full travel search. If H- (CCW) direction specified the sequence is
terminated if the CCW limit is found. The motor will continuously move after HOME sensor is reached until
the home sensor is cleared.
Example
H+ A50 V200 GH
The unit uses an acceleration of 5rev/sec² and a velocity of 2rev/sec and moves in the CW direction looking
for the HOME sensor. If the sensor is reached it stops and then continues in the CW direction at 0.1 rev
/sec until the limit sensor is cleared. If the unit senses the limit before the home sensor on the initial move
the drive stops and then drives CCW until the home sensor is reached. It then stops and moves CW at
0.1rev/sec until the home sensor is cleared. If the drive finds the CW limit and then the CCW limit without
finding the home sensor the sequence is terminated.
Hx
Set direction
H is followed by a "+" or "-" to indicated CW and CCW motor rotation respectively. This is used
mainly in the MC mode to set the motor rotation direction. The H must be followed by a + or - to be valid.
MA
MODE ABSOLUTE
This puts the drive in the absolute position mode. The drive performs a trapezoidal move based on the
acceleration, velocity and distance parameters entered. All distances entered are respect to the systems
absolute position counter. Thus if a PZ command is issued, the internal counter is zero. Entering a distance
off D2000 would cause the drive to move CW 2000 counts. Then entering a distance of D4000 would cause
the drive to move 2000 steps again or move from the 2000 to 4000 absolute counter position. A distance of
D-2000 would now cause a move of 6000 counts in the CCW direction. So the absolute counter reads -
2000.
PZ MA A50 V200 D2000 G
D4000 G
D-2000 G
MC
Mode continuous
