RMS Technologies R325 DRIVER W/PDT - Manual (Page 16)

RMS Technologies Page 16 Version 1.20
R325I Single Axis Controller/Driver Manual 02/13/2006
Command
(Case Sensitive)
Operand Example Description
HOMING & POSITIONING
HA 0 = Forward
1 = Reverse
#AHA1
Motor turns in
the reverse
direction Home Axis - Command Only
- Causes the motor to move at the preset Start Velocity (SV) in
the direction set by the command value. Motion stops when the
index input of a device on the input pin goes TRUE then stops
and sets absolute position to zero. Motion can also stop by the
entry of a Stop Motion (SM) command.
- Forward is defined as the direction the motor turns when the
‘Direction’ input (P1-3) is set TRUE, or there is no connection to
this input.
P2 Configuration
Pin No Function
1 GND
2 Index
3 -
4 +5 V
5 -
CP +/–
2,147,483,646
#ACP1000
Sets the current
position to be
1000
#ACP
Returns the
current position
of the motor Current Position - Command or Query.
- Returns the absolute position of the axis if no value is passed.
Valid after power cycles if a Save Data Command is issued before
power down. Can be used to set current position value.
The units are steps at the current step resolution (value becomes
invalid with step resolution changes). The absolute position scale
is set to zero by the Zero Position command (ZP) or the
execution of a Home Axis (HA) command.
ZP - #AZP
Sets absolute
position to zero Zero Position - Command Only
- Sets the current value of the Absolute Position scale to zero
Note: This command functions differently between R325I and
R325IE
VELOCITY & ACCELERATION
AC 1 - 250 #AAC1
Sets
Acceleration to
1000 PPS^2 Acceleration - Command or Query
Default = 10
Used to shape the acceleration and deceleration ramps of
position moves, and the rate of velocity change for velocity
moves.
Does not affect any of the basic step and direction move
operations
Acceleration Factor * 1000 Pulses per Second
AP +/–
2,147,483,646
#AAP1000
Moves to
absolute
position of 1000 Absolute Position - Command Only
- Used to make an absolute position move (in step resolution
units).
CV +/- 50,000 #ACV Current Velocity - Query Only
- Only valid when a Position Move (PM) or Velocity Move (VM) is
in progress. Otherwise returns zero.
MS 0 -2 #AMS Move Status - Query Only
- Reads Motion Status. Returns 0 for No Motion, 1 for Position
Move, and 2 for Velocity Move.
MV 256 - 50,000 #AMV500
Sets minimum
velocity to 500
SPS Minimum Velocity - Command or Query
Default = 256
- Reads or sets the minimum velocity for both Position and
Velocity command moves. The units are steps (at the current
Step Resolution) per second.