Pacific Laser Equipment C-400 - Manual (Page 15)

Motor controller 4ch User manual
C-400
November 19, 2002 Release: 1.30 2002 by
Pacific Laser Equipment
PLEquipment, 3941 S. Bristol St. Unit D-122, Santa Ana, CA. 92704,
( 509-355-5155, Fax: 509-355-5155, Email: [email protected]
Page 15 of 21
REPORTING COMMANDS
Reporting commands cause the C-400
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controller to emit a string of data. These commands are easy
to remember as they usually begin with a Tell statement.
TG Tell gain
Reports programmed SG values This value can be changed with the
TI Tell Iterations
This command reports the state of the repeat counter. It is useful for determining the number of times a
repetitive action has taken place.
Example: MR100,WS100,WA250,TI,RP99 The motor will make repetitive moves of 100 steps, with a
delay of .25 seconds between steps, for a total of 100 times. The TI command will report the number of
iterations remaining to be performed after each iteration.
TP Tell Position
Tell Position reports the absolute position of the motor. TP may be used to monitor motion during both
motor on and motor off status.
TT Tell Target
Reports target position. This is the absolute position to which the servo-loop will try to drive the motor
any time the MN (Motor ON) state is in effect.
TY Tell programmed velocity
Reports the Programmed Velocity value. This value can be changed with the SV command. The values
reported with the TV and TY commands should differ by only a few counts.
Command: TY <return>
Report: "Y:+0000020000"
TV Reports actual velocity
Command: TV <return>
Report: "V:+0000020006"
CS CheckSum
Calculates and reports the check-sum. This command is useful to test the integrity of the firmware.
The reported value should be the same every time.
Report: "C:50EE_FBF2"CRETX
TL Tell acceLeration
Reports programmed acceleration value.
Command: TL<return>
Report: "L:+0000170000"
TF Tell Following error
Reports the difference between the dynamic target and the actual position. During motion, it is normal
for the actual position to lag behind the target position by some amount, usually dependent on the
programmed velocity. If the velocity is higher than physically possible for the system, or if an
obstruction has been encountered, the Following Error will increase. If the obstruction is temporary, the
servo-action will attempt to reduce the error to zero when the obstruction is removed. If the condition is
not temporary, the error will increase until the programmed limit is reached.
Command: TF <return>
Report: "F:+0000000117"
TD Tell deceleration
Reports programmed SD values
Command: TD <return>
Report: "N:+0000126317"