Dynamic Motion Parameters

S0.1=250

A0.1=100

M0.1=80

P0.1=10000

Sets the motor 1 target position to 10000 with a speed of 250, acceleration of 100Kpps², and torque of 80%.

These values will be used when the next move is executed, unless overwritten

Execute Direct Motion

The caret command will execute a predefined dynamic motion. The movement will utilize the parameters stored in the respective 0 registers (i.e. P0, S0, A0, M0).

^.1

Motor 1 begins a motion using the values programmed in P0, S0, A0, and M0.

Execute Direct Motion (# = 1-8)

The caret followed by a number will execute a motion using the parameters specified in the corresponding number registers. Valid entries are from 1 to 8.

^5.1

Motor 1 begins a motion using the values programmed in P5, S5, A5, and M5.

Continuous Point Motion

The tilde command will increment the current position by the value of P0.

P0.1=10000

~.1

For each time the ~ character is sent, the motor will increment the current position by 10000 pulses, or 1/5 of a full rotation.

Origin Search

The vertical bar command will begin an origin search routine according to the current origin search settings.

|.1

Motor 1 begins an origin search according to the current settings.

Move to position 0 (origin)

The bar 1 command makes the motor move to the current origin position (position 0). The speed, acceleration and deceleration values are set by parameters K42, and K43

|1.2

Motor 2 will begin a move to its respective origin position.

Assign Current Position as Origin

The bar 2 command will assign whatever the motors current position is, as the origin (position 0). For example, is the motor has rotated a few times and the current position is 17250, when you sent the |2 command this position changes to become 0.

|2.3

The current position of motor 3 becomes 0.

Soft Reset

The bar 4 command will execute a soft reset of the motor. This means that the motor will restart as if being re-powered, but without physically removing power from the motor.

|4.1

Restart motor 1.

Clear Revolution Counter

Clears the position of the motor, but leaves position information from under one revolution. For example, if the motor resolution is set to 1000 pulses per revolution and we are at position 23764, this means we’ve travelled 23 revolutions and 764 pulses. When we send the |11 command, the position becomes 764, as the previous 23 revolutions are cleared.

|11.1

Clear motor 1 revolution counter.

Enable Motor

The open bracket will enable the motor. If the motor is set to power up disabled in K46, if the motor has previously been disabled due to an error, or if the motor was manually disabled through an input or command the open bracket will re energize the motor and return it to the ready state.

(.1

Enable motor 1.

Disable Motor

The close bracket will disable the motor. When the motor is disabled, the shaft will turn freely but the position will still be tracked.

).2

Disable motor 2.

Output Signal On

The letter O followed by an output number will activate the respective output. The output must be programmed as either 3 or 4 in parameter K34.

O1.2

Activate output 1 on motor 2.

Output Signal Off

The letter F followed by an output number will deactivate the respective output. The output must be programmed as either 3 or 4 in parameter K34.

F1.2

Deactivate output 1 on motor 2.

Save Data

The dollar symbol will save program data from the motors RAM to non-volatile EEPROM memory. All registers, program banks, and logic banks are saved using this command. When data is successfully saved, a message is returned which reads "Saved.n" where n is the motor ID number.Once saved, all data is maintained when power is removed from the motor.

$.1

Save all data on motor 1.

Capture Position Data

The hash command will capture the motors current position data, and save the value to the position register specified after the hash.

#2.1

Set the value of register P2.1 to the current motor position

Execute Bank

The open square bracket command will execute the requested program bank. The bracket is followed by the program bank number you wish to execute. Likewise, by following the bracket by a letter L and the bank number, a desired logic bank can be executed as well.

[1.1

[L1.1

Execute program bank 1 on motor 1.

Execute Logic bank 1 on motor 1.

Pause Bank

The close square bracket command will stop a motor immediately and pause a program bank which is currently running. By sending the [ command, the bank can be resumed. By sending the ] command twice, the bank will be stopped and cannot be resumed. Logic banks cannot be paused and resumed in this manner; sending the bracket followed by an L will stop the currently running logic bank.

].1

].1

].1,].1

]L.1

Pause program bank on motor 1.

Terminate program bank on motor 1.

Terminate program bank on motor 1.

Terminate Logic bank on motor 1.

Pause Bank After Current Line

The close brace command will perform much the same as the close square bracket, however the motor will wait until the current line in the program is completed before pausing the bank. a close square bracket must still be used to terminate the program completely.

}.1

}.1

Pause program bank on motor 1 after the current line.

A subsequent } will terminate the bank.

Execute Next Program Line

The forward chevron will allow you to step through a paused program. If you pause a program with the ] or } commands, you can then step to the next line using the >. The program will automatically pause again after the line is executed.

].1

>.1

>.1

Pause program bank on motor 1.

Step one line forward in the program.

Step one line forward in the program.

Execute Previous Program Line

The backward chevron will allow you to step through a paused program. If you pause a program with the ] or } commands, you can then step to the previous line using the <. The program will automatically pause again after the line is executed.

].1

<.1

Pause program bank on motor 1.

Step one line backward in the program.

Emergency Stop

The asterix will immediately commands all motors on a daisy chain to stop movement with the maximum deceleration. All programs will cease and the motor will not respond to any commands to move until the emergency stop state is removed.

*

Command all motors to perform an emergency stop.

Cancel Emergency Stop

The asterix followed by a number one will cancel the emergency stop state in a motor. When the emergency stop is cancelled, the motor will return to the ready state, but any programs or movements that were running when the emergency stop was engaged will not automatically restart.

*1

Cancel emergency stop.

Query

The question mark will query the motor for various parameters and values, depending on the number following the question mark.