Delta MMC120 User Manual
Page 80
80
Hexadecimal: 047 or 067
Command Value: Requested Position, in position units
This command requests the axis to move to the requested position specified in the
COMMAND VALUE
field. The user must make sure that all parameter words are valid
when the Go command is issued. Normally, once the
MODE
,
ACCELERATION
,
DECELERATION
, and
SPEED
are set, only the
COMMAND VALUE
needs to be
changed. Once set, a ‘G’ put in the COMMAND word is used to get the axis to move.
NOTE:The ‘G’ command can be given while the axis is in motion. If you do this, the
motion controller will ramp to the new speed at the rate specified by the
ACCELERATION
and
DECELERATION
parameters.
Halt Command
Character: H or h
Decimal: 72 or 104
Hexadecimal: 048 or 068
Command Value: Unused
The HALT command is used for a Soft Stop, jogging the axis, or when the drive power is
off. Putting an 'H' in the Command word while the axis is moving will cause the axis to
ramp down until it stops. Jogging an axis is accomplished by alternating
Go
and HALT
commands. The 'H' command disables the integral gain term and the null update.
If an event sequence is in progress when this command is issued, the event sequence will
be stopped. Compare this command with the
Disable Drive Output
and
Quit Events
commands.
NOTE:Issue a HALT command when hydraulic power is turned off. This prevents the
integrator from winding up.
Set Integral Drive Command
Character: I (Upper case i)
Decimal: 73
Hexadecimal: 049
Command Value: New Integral Drive, in millivolts
This command sets the Integral Drive to the value in the
COMMAND VALUE
field.
This command can be used to unwind the integrator. There are several alternative ways
to unwind the integrator. See also the
Set Integral Drive to Null Drive
,
Save Integral
Drive
and
Restore Integral Drive
commands.