User`s manual

Non-Programmed Motion
GFK-1742A Chapter 6 Non-Programmed Motion 6-7
6
Position Increment Commands
To generate small corrections between the axis position and the DSM314 tracking, the
Position
Increment
%AQ commands can be used to offset
Actual Position
by a specific number of user
units. If the
Drive Enabled
%I bit is ON, the axis will immediately move the increment amount.
If the position increment without position update is used (%AQ command 21h), the
Actual
Position
%AI status word reported by the DSM314 will remain unchanged. If the
Position
Increment With Position Update
is used (%AQ command 25h), the
Actual Position
and
Commanded Position
%AI status words reported by the DSM314 will be changed by the
increment value.
Position Increment
can be used at any time, though simultaneous use with the
Force Digital Servo Velocity
command is impossible because the
Force Digital Servo Velocity
command must remain in the %AQ command data area or the servo will be stopped.
Other Considerations
Other considerations when using non-programmed motion are as follows:
The
Abort All Moves
%Q bit, when ON, will prevent any non-programmed motion from
starting.
Turning ON the
Abort All Moves
%Q bit will immediately stop any current non-programmed
motion at the current
Jog Acceleration
.
A
Set Position
%AQ command during non-programmed motion will cause a status error.
Turning OFF the
Enable Drive
%Q bit while performing a home cycle or executing a
Move
at Velocity
%AQ command will cause a stop error.
The
Feed Hold
%Q bit has no effect on non-programmed motion.
The
Rate Override
%AQ command has no effect on non-programmed motion.
Changing the
Jog Velocity
or
Jog Acceleration
will not affect moves in progress.