User`s manual

GFK-1742A 6-1

Non-Programmed Motion

The DSM314 can generate motion in an axis in one of several ways without using a motion

program.

Find Home and Jog Plus/Minus use the %Q bits to command motion.

Move at Velocity, Move, Force Digital Servo Velocity, Force Analog Output, and Position

Increment use %AQ immediate commands.

During Jog, Find Home, Move at Velocity, Move and Force Digital Servo Velocity, any other

commanded motion, programmed or non-programmed, will generate an error. The only

exception is the Position Increment %AQ command, which can be commanded any time. See the

description of Position Increment motion below for more details.

Non-programmed motions (Abort All Moves, Jog Plus/Minus, Move at Velocity, AQ Move Cmd

and Normal Stop) use the Jog Acceleration and Jog Acceleration Mode. The Feed Hold %Q

command uses the programmed acceleration and acceleration mode.

DSM314 Home Cycle

A home cycle can be used to establish a correct Actual Position relative to a machine reference

point. The configured

Home Offset

defines the location of Home Position as the offset distance

from the Home Marker.

The Enable Drive %Q bit must be ON during an entire home cycle. However, the Find Home %Q

bit does not need to be held ON during the cycle; it may be turned on momentarily with a one-

shot. Note that turning ON the Find Home %Q bit immediately turns OFF the Position Valid %I

bit until the end of the home cycle. The Abort All Moves %Q bit halts a home cycle, but the

Position Valid bit does not turn back ON. No motion programs can be executed unless the

Position Valid bit is ON.

Home Switch Mode

If the Find Home Mode is configured as HOMESW (HOME Switch), the Home Switch input

from the axis I/O connector is used first to roughly indicate the reference position for home.

Then, the next encoder marker encountered when traveling in the negative direction indicates the

exact location. An open Home Switch input indicates the servo is on the positive side of the home

switch and a closed Home Switch input indicates the axis is on the negative side of the home

Chapter