Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 318)

296 Execution Commands • Non-Motion Execution Commands
Publication 1398-PM601A-EN-P — October 2000
HOST
M
O
D
E
SRUN program
Executes the specified program number. If no program number is given with the Run command, the
command simulates the action of the “Start” input, executing either the default program or the program
number specified on the program select inputs. The program number is required for the SRUN com-
mand to execute a program from the system program directory. If the value of the single-step flag (SS)
is TRUE, the program will execute in the single-step mode. (See PSELEN, PGM, PGMSEL, SS.)
STEP
Clears the “Ready for Single Step” flag in status information and single-steps the program running if
executing in single-step mode. (See S, DBG, SS.)
X
Stops program and move execution.
Non-Motion Execution Commands
(Null)
The null command consists of an empty command (only the END field is present). This command is
simply acknowledged-no other action is taken.
CLRPEAKS
Clears peak current (PICMD), motor velocity (PVEL1), and following error (PFE) when set.
DH
DP position
DPn position
These commands are used to set the present commanded position to zero (DH), to the specified position
(DP) or to redefine the specified encoder position (DPn). The present commanded position is then
defined as the home position simulating the completion of a home cycle. The Home Sequence Complete
output will be turned ON if assigned. The ULTRA Plus or IQ must not be executing a move and the
drive must be enabled before these commands will be accepted. Note that “DH” has the same effect as
“DP 0”.
ENABLE or EN
DISABLE or DIS
These commands cause a software enable or disable of the ULTRA Plus or IQ, simulating the action of
the Enable input. (See SEN)
HRESET
Causes a hardware reset when set. This command causes the controller to reboot the processor.
RESET or RES
Software reset.