SMAC
LAC-26 Technical Reference Manual
4/29/2013 46
4.6 Learned Position Storage (LPS) Commands
The LAC-26 uses part of its nonvolatile RAM (NVRAM) to create a 256 item
table
for
storing
positions.
This table overlaps the last 256 registers of the register table.
The LPS table is normally accessed by three commands: Learn Position
(LP),
Learn
Target
(LT) and
Move
to
Position
(MP).
The
purpose
for the
LPS
table
is
to
allow
the
user to
store
pre-
determined positions for later use (such as in contouring) as the NVRAM will
retain
data
even
when
powered
down.
In
other
cases,
this
table
can
be
built
through
calculations
using
the
register
commands.
Command:
aLPn
-- Learn Current Position --
Argument:
0 <= n <= 255
This command
causes the
current
position
of
servo axis
'a'
(that
position
reported
by
the
Tell Position (TP) command) to be stored in location 'n' of the Learned Position Storage table. This
command is useful for "teaching" target positions to the LAC-26.
Related Commands: LT, MP
Command:
aLTn
-- Learn Target Position --
Argument:
0 <= n <= 255
This command causes the current target
position
of
servo axis
'a' (that
position
reported
by
the
Tell
Target
(TT)
command)
to
be
stored in
the
location
'n'
of
the
Learned
Position
Storage
table.
This
command
is
useful
for
setting
up
a
table
of
target
positions
via
a
downloading
procedure.
Related Commands: LP, MP
Command:
aMPn
-- Move to Index Table Position 'n' --
Argument:
0 <= n <= 255
This
command
causes
the
position
contained
by
the
Learned
Storage
Position
table
location 'n' to become the new target position. This command
will
not
initiate
a
motion;
therefore,
a Go (GO) command may be required.
Related Commands: LP, LT
