Trinamic MONOPACK 2, Руководство пользователя, Страница: 27 / 34

Monopack 2 Manual V1.04 27
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
5.2.16 Set mixed decay mode
Command: Q0 or Q1
The command “Q” command turns mixed decay on or off. Q0 turns off mixed decay, and Q1 turns on mixed decay.
This command is new on the Monopack 2.
5.2.17 Automatic reference search
Command: G
Entering this command starts an automatic reference search. A reference point offset can be specified by a
previous “S” command (use “
S0
” for no reference point offset). The reference switch must be connected between
the reference switch input and ground as a normally closed switch. During the reference search, the following
messages will be sent back:
“
>0 to <v>
” right after the command has been entered (with <v>= maximum velocity).
“
>n=<pos_1>
” when the reference switch is open (where <pos_1> is the microstep position where the
switch opened).
“
<v> to <-v>
” when the motor turns back into the opposite direction (with <v>= maximum velocity).
“ >n=<pos_2> ” when the switch is closed again (where <pos_2> is the microstep position where the
switch closed).
“
<-v> to 0
” when the motor being decelerated.
“ >OK ” at the end of the automatic reference search.
The velocity, bow, acceleration and direction can be set by the appropriate commands (V, B, A, +, -) before starting
the reference search.
5.2.18 Find reference switch position
Commands:
N
and
O
These two commands can be used to find the reference switch manually. Normally there is no need to use them,
instead use the “G” command.
Entering the “N” command makes the motor run. When the switch gets closed, the microstep position of this point
will be sent back (message “
n= <position> ”). The motor will not be stopped automatically (use the “H” or “X”
command to do this).
Entering the “O” command also makes the motor run. When the switch gets opened, the microstep position of this
point will be sent back (message “
n= <position>
”). The motor will not be stopped automatically (use the “H” or
“X” command to do this).
5.2.19 Set stop switch mode
Command:
M<value>
This command sets the stop switch mode. The value can be one of the following numbers:
0 for no stop switches.
1 for hard stop when a stop switch opens.
2 for soft stop if the motor is in velocity mode (“D” command) and hard stop if the motor is in positioning
mode (“T” or “R” command) when the stop switch opens.
Example:
M2
5.2.20 Change actual position
Command: P<value>
This command changes the actual position, without moving the motor. It must be followed by a value between -
8388608 and 16777215. The motor must be standing before using this command.
Example:
P-50000
5.2.21 Query actual position
Command: p
After entering this command the actual position will be sent back as a message of the form “ p=<position> ”,
where <position> is the actual position of the motor.