Instruction Manual

Miscellaneous • Miscellaneous Instruction Summary 169
Publication 1398-PM601A-EN-P — October 2000
TUTORIAL
DH ;define current commanded position as zero
DP = 200 ;define the current commanded position as 200
DP = 0 ;this is equivalent to a DH
DP1 = 100 ;define the encoder 1 position (POS1) as 100
These commands change the commanded position. The feedback position is also changed in such a way
as to maintain the same following error that was present before the instruction was executed.
Enable / Disable
The ENABLE and DISABLE commands are used to enable and disable motor torque. These commands
can be issued from three different sources: the application program, an assigned input, or a Host Lan-
guage Command. Any of the three sources can disable the ULTRA Plus or IQ at any time. The only
source that can re-enable the ULTRA Plus or IQ (without resetting the ULTRA Plus or IQ) is the source
that disabled the ULTRA Plus or IQ.
DISABLE ;Disable the motor
ENABLE ;Enable the motor
Miscellaneous Instruction Summary
The following is a summary of the miscellaneous commands discussed in this section. Refer to Part 5 •
Language Reference for more detailed information.
Name Description
CONFIG = n Select the ULTRA Plus or IQ configuration
DH Define the current position as home
DISABLE Disable the ULTRA Plus or IQ
DP = value Redefine the current position
DP1 = value Redefine Encoder1 position
DP2 = value Redefine Encoder2 position
ENABLE Enable the ULTRA Plus or IQ