Specifications

SECTION 8 COMMAND DESCRIPTIONS

ENCODER COMMANDS

ENCODER AUTOCORRECT ( Enable/ Disable)

This Command will set the Encoder Autocorrection Bit. A 1 will cause the Autocorrection feature

to be enabled, and a 0 will cause it to be disabled. If the Autocorrection feature is enabled, after

the completion of a move, the Encoder Register will be verified to see if it is in the correct position.

If it is not, a correction move will be implemented. See Encoder Retries.

Note: Anytime the ER register, EP register, EW register, or the EM register is written to, the

Encoder Auto Correction feature is disabled to prevent spontaneous Motor Errors - hence it

will need to be re-enabled. Make sure to use the Encoder Auto Correction command as the

last encoder line command to avoid disabling.

Line Command Parameter 1 Parameter 2 Comments

Enc Auto 1

ENCODER DELAY

This Command will set the dwell time that the unit will wait before checking the Encoder Register,

after the end of the move. This will take out the ringing that might be associated with the

mechanics of the system. The range for this is between 1 and 1000 and is in 0.001 seconds [1000

is 1 second]. (Encoder Delay is used to allow for the motor settling time after a move.)

Note: Anytime the ER register is written to, the Encoder Stall Detection feature is disabled to

prevent spontaneous Motor Errors - hence it will need to be re-enabled.

Line Command Parameter 1 Parameter 2 Comments

1 Enc Delay 500 ½ second

ENCODER POSITION (EP)

This Command will set the starting point of the Encoder Position.

Note: Anytime the EP register is written to, the Stall Detection and Encoder Auto - Correction

features are disabled to prevent spontaneous Motor Errors - hence they will need to be re -

enabled.

Line Command Parameter 1 Parameter 2 Comments

1 Enc Position 0 Position 0 can be

the Home Position

ENCODER RETRIES (ER)

This Command will set the number of Encoder Retries or number of tries (0 - 250) when

autocorrecting.

Note: Anytime the ER register is written to, the Encoder AutoCorrection feature is disabled to

prevent spontaneous Motor Errors - hence it will need to be re - enabled.

Line Command Parameter 1 Parameter 2 Comments

1 Enc Retries 5 retry 5 times