Rms-technologies R325P DRIVER Instrukcja Użytkownika Pobierz pdf (Strona 17)

Command

(Case

Sensitive)

Operand Example Description

VELOCITY & ACCELERATION (cont.)

+/–

2,147,483,646

#AAP1000

Moves to the

1000

position.

Absolute Position - Command Only

- Used to make an absolute position move (in step

resolution units).

+/- 50,000

#ACV

Current Velocity - Query Only

- Used when a Position Move (PM) or Velocity Move (VM)

is in progress. Otherwise returns zero.

+/- 50,000

#ADV1000

#ADV-1000

Rotates CW at

1000 pps then

CCW at 1000

pps. Use this

to rotate CW

& CCW.

Direction Velocity – Command Only

-This command is the exact same as Velocity Move (VM)

with the addition of being able to ramp up and down when

making moves from Positive to Negative. In the given

example, it will rotate at 1000 pps.

When issued #ADV-1000, it will ramp down to 0 then back

up to 1000 pps but rotating in the opposite direction.

Note: No value is returned.

0 -2

#AMS

Move Status - Query Only

- Reads Motion Status. Returns 0 for No Motion, 1 for

Position Move, and 2 for Velocity Move.

250 - 15,000

#AMV500

Sets minimum

velocity to 500

SPS

Minimum Velocity - Command or Query

Default = 250

- Reads or sets the minimum velocity for both Position and

Velocity command moves. The units are steps (at the

current Step Resolution) per second.

+/-

2,000,000,000

#APM1000

Makes a 1000

step move

from the

current

position

Position Move - Command Only

- Causes a ‘Relative Motion’ Position Move, using an

approximately trapezoidal profile. The initial velocity is

defined by ‘Start Velocity’ (SV), the profile ramp is defined

by ‘Acceleration’ (AC), and the ‘Constant Velocity’ step rate

by ‘Velocity Limit’ (VL). ‘Minimum Velocity’ (MV) is used to

ensure that the deceleration ramp does not set velocity to

zero before the target position is reached.

- It should be remembered that, while the ‘Position Move’

value defines the number of steps to be made from the

current position, the value returned by ‘Current Position’

(CP) both before and after a ‘Position Move’ are on an

‘Absolute’ step count scale.

- CP readings can be used to determine PM values required

to reach any given position on the ‘Absolute’ step count

scale.

Note: This command does not return a value.

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R325PE Single Axis Closed loop Driver/Indexer Manual 5/29/2013

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