Manual

Detailed Descriptions of ACL Commands 3-35
In addition, IN causes the following actions: The ACL error code is cleared. The following
OS status bits are cleared: Position Change, Origin Change, Taught Point Available,
Emergency Stopped, Error, Motor Slipped. The Initialized status bit is set. The
commanded position is recomputed from the Actual position according to the new (default)
values of calibration factors, pattern rotation angle, and Origin position. The Taught Point is
set to 0,0. The machine forgets any VC, VT, PAUSE, STOP, motor slip, or interrupt which
has been logged but not yet acted upon. (See the FP command.)
X-Y or Z Motor power is not turned off and the present physical position is not changed. If
the Home references were established they are not lost. Microstep resolution and linearity
correction are not changed. Arrow motion remains unconstrained if it was already.
Communications parameters are not changed. See
ESC.! and ESC.R in Chapter 6, and
Appendix A Power Up Actions.
Note that the IN command is not processed if the Automove System is in the Paused state
waiting to finish a previous ACL command. If necessary, the host computer can first
remotely clear the Paused state. See the
ESC.! command in Chapter 6.
To customize the personality of the Automove System, some of the default values shown
above can be changed via the PE command. For example, the SR default could be changed
to 5000 so that it receives this value at power up, at IN, and at an SR with no parameters.
The above table gives the factory-set values.