Manual

Detailed Descriptions of ACL Commands 3-23
For more information about the CR command and its parameters please see Chapter 9
Linearity Correction.
The current values stored in the Linearity Correction Table can be read via the OR
command. The entire table can be set back to its factory default state (i.e. no corrections) via
the
ESC.!8: command; see Chapter 6.
CS Clear Stop
The CS command turns off the STOP light and clears the Emergency Stopped state and the
Emergency Stopped status bit, thus enabling subsequent motor motion. The Motor Slipped
status bit is also cleared and the SLIP light is turned off. Any STOP or slip that has been
logged but not yet acted upon is forgotten. (See FP.)
The Emergency Stopped state is entered when the user presses the STOP button on the front
panel or when an external Stop switch actuates. It can also be triggered by the optional Step
Verify circuit or by a corrupt non-volatile memory (see below). During the Emergency
Stopped state the front-panel STOP light blinks and the machine ignores all physical action
commands (AA, AR, AZ, CD, FH, FZ, MA, MR, MT, MZ, TD, WA, WN, Arrow buttons,
GO TO ORIGIN button, manual re-reference). The Paused state is canceled and prevented
by the Emergency Stopped state.
The Motor Slipped state is entered when the optional Step Verify circuit detects a slip of the
X or Y stepping motor. The front- panel SLIP light begins to blink and the machine
typically executes an Emergency Stop. A Download Sequence may be automatically
triggered. The CS command performs a half-second delay before clearing the Motor
Slipped state. These behaviors can be modified via personality parameters 49, 50, and 51;
see Chapter 7.
CS has no effect if it is executed while the machine is in neither the Emergency Stopped
state nor the Motor Slipped state.
Also, CS is ignored if the Stop switch is still actuated. (The host can check this via
ESC.O.)
If your system contains a Stop switch which is actuated by motor travel and you need to
back the motor away from the switch after an Emergency Stop occurs, you can use the
following trick: temporarily disable Emergency Stop via the FP command, execute a CS,
IN, or
ESC.!2: to clear the Stop, move the motor away, and execute another FP to re-enable
Emergency Stop.
Note: if the machine enters the Emergency Stopped state automatically at power up but the
Stop switch is not actuated, this indicates that the non-volatile memory is corrupt. For more
information see Appendix A Power Up Actions.
The host can detect the Emergency Stopped or Motor Slipped state via the OS command or
the
ESC.o: command. See "STOP" in Chapter 4.