Rms-technologies R325P DRIVER Bedienungsanleitung PDF herunterladen (Seite 16)

Table 8.1 – List of Commands

Command

(Case

Sensitive)

Operand Example Description

HOMING & POSITIONING

0 = Forward

1 = Reverse

#AHA1

Motor turns in

the reverse

direction

Home Axis - Command Only

- Causes the motor to move at the preset Start Velocity

(SV) in the direction set by the command value. Motion

stops when the index input of a device on the input pin

goes TRUE then stops and sets Absolute Position and

Current Encoder to zero. Motion can also stop by the entry

of a Stop Motion (SM) command.

- Forward is defined as the direction the motor turns when

the ‘Direction’ input (P1-3) is set TRUE, or there is no

connection to this input.

P2 Configuration

Pin No

Function

GND

Index

+5 V

Table 8.2

+/–

2,147,483,646

#ACP1000

Sets the

current

position to be

1000

#ACP

Returns the

current

position of the

motor

Current Position - Command or Query.

- Returns the absolute position of the axis if no value is

passed. Valid after power cycles if a Save Data Command is

issued before power down. Can be used to set current

position value.

The units are steps at the current step resolution (value

becomes invalid with step resolution changes). The

absolute position scale is set to zero by the Zero Position

command (ZP) or the execution of a Home Axis (HA)

command.

#AZP

Zero Position - Command Only

- Sets the Current Position and the Encoder Position to zero

Note: This command functions differently between R325I

and R325IE

VELOCITY & ACCELERATION

1 - 250

#AAC1

Sets

Acceleration

to 1000 PPS^2

Acceleration - Command or Query

Default = 10

Used to shape the acceleration and deceleration ramps of

position moves, and the rate of velocity change for velocity

moves. Does not affect any of the basic step and direction

move operations. Acceleration Factor * 1000 Pulses per

Second

RMS Technologies Page 16 Version 1.01

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

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