Specifications

SECTION 8 COMMAND DESCRIPTIONS
42
START/ STOP COMMANDS
This grouping of command pertains to functions that will Start and Stop the Motion. All axis
motion begins at the specified Base Speed and then ramps up to Max Speed. If the motion is
definite, the axis will then ramp from Max Speed down to Base Speed to complete the move.
Setting Motor Base, Max, and Ramping Speeds is discussed in the Motor Parameter Command
Section.
GO ABSOLUTE COMMAND
This Command is a move-to-position command meaning that it will move to the position specified.
For instance, in the below example it will cause the motor to go to position 0. If the Motor Position
is at 2500, the Go Absolute Command of 0 will move to the position and the Direction Register
would be 0 (CCW Direction).
Line Command Parameter 1 Parameter 2 Comments
1 X Go Absolute 0
GO RELATIVE COMMAND
This Command is a move-a-distance command meaning that it will move the distance set in the
Go Relative Command. For instance, in the example below it will cause the motor to go 1000
steps in the CCW direction
Line Command Parameter 1 Parameter 2 Comments
1 X Dir -
2 X Go Relative 1000
HOME COMMAND
This Command will cause the motor to move continuously in the direction specified by a Direction
Command until a Home limit switch is hit. (Refer to the HOME TYPE COMMAND for Home Types
available.)
Line Command Parameter 1 Parameter 2 Comments
1 X Dir -
2 X Home 0
HOME TYPE COMMAND
This Command specifies the type of Homing that will be executed when a Home Command is
executed. There are 3 types of Homing.
Home Type 0
This will rotate continuously in the appropriate direction and speed until a Soft
Limit Switch is active. It will then Ramp Down to Base Speed, and then Stop
when the Home Limit Switch is active.
Home Type 1
This will rotate continuously in the appropriate direction and speed until a Home
Limit Switch is active. It will then Ramp Down to Base Speed, Stop and instantly
reverse direction. It will then continue in this reversed direction and then Stop
when the Home Limit Switch is once again inactive. This will stop on the ‘negative
edge’ of the switch only, so the switch can be passed on ramp down and then hit
again in the reverse direction stopping after it comes off the switch. This is most
useful for taking backlash out of a leadscrew.
Home Type 2
This will rotate continuously in the appropriate direction and at Base Speed until a
Marker Pulse is active. This is typically called Channel Z from an encoder.
Although the intent of this Homing is for use with an encoder, it is not limited by it.
A simple switch will work as well.