Applied Motion RS-232 - Manual (Page 19)

19 920-0002 Rev. I
2/2013
Host Command Reference
70 920-0002 Rev. D
5/7/2007
Host Command Reference
DI - Distance/Position
Compatibility: All drives
Affects: All move commands
See also: AC, DC, DE and VE commands
Sets or requests the move distance in encoder counts (servo) or steps (stepper). The sign of DI indicates move
direction: no sign means CW and “-” means CCW. DI sets both the distance for relative moves, like FL, and the
position for absolute moves, like FP. DI also sets the direction of rotation for jogging (CJ).
Command Details:
Structure DI{Parameter #1}
Type BUFFERED
Usage READ/WRITE
Non-Volatile YES
Register Access “D” (020)
Parameter Details:
Parameter #1 distance
- units encoder counts (servo) or steps (stepper)
- range -2,147,483,647 to 2,147,483,647
sign determines direction: “-” for CCW, no sign for CW
Examples:
Command Drive sends Notes
DI20000 -
Set distance to 20000 counts in the CW direction
DI DI=20000
DI-8000 - Set distance to 8000 counts in the CCW direction
FL - Initiate FL move
Command Listing
This section is an alphabetical listing of all the commands available with your drive. Each page in this
section contains the details of one available command. Below is a sample of what these pages look like, with an
explanation of the information you will find on each page.
Title - shows the command’s two-letter code
followed by the command’s name.
Compatibility - shows which drives use this
command.
Affects - a summary of parameters or other
commands the command affects.
See Also - related commands
Description- an explanation of what the
command does and how it works.
Command Details - shows the command’s
Structure, Type, Usage, Non-Volatile status,
and Register Access. Structure always
shows the two-letter command code followed
by the number of parameters it uses. Not
all commands have parameters, some
commands have optional parameters, and
other commands always have a parameter.
Optional parameters are designated by { },
and required parameters are designated by (
). Type can be BUFFERED or IMMEDIATE.
Usage can be Read Only, Read/Write, or
Write Only. Non-Volatile will show if the
command can be saved (YES) or not (NO).
Saving Non-Volatile commands to memory
requires the SA (Save) command. Register
Access shows any data registers associated
with the command. If the command transfers
data to a register that is accessible via the
RL and RX commands, that register will be
shown here.
Parameter Details - shows a description,
the units, and the range of the parameter(s)
available with a given command. Some
commands will also have a Response
Details section which shows how the drive’s
response to the given command is formatted.
Examples - shows what to expect when you
use this command. Under “Command” are
the command strings you would send from a
host controller or write into a stored program.
Under “Drive Sends” are the responses
from the drive: no response from the drive
is denoted by “-”. “Notes” give additional
information about the results of the command
string.