User manual

PD-1160 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 36
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3.6.13 RFS (reference search)
The PD-1160 has a built-in reference search algorithm which can be used. The reference search algorithm
provides switching point calibration and three switch modes. The status of the reference search can also
be queried to see if it has already finished. (In a TMCL program it is better to use the WAIT command to
wait for the end of a reference search.) Please see the appropriate parameters in the axis parameter table
to configure the reference search algorithm to meet your needs (chapter 4). The reference search can be
started, stopped, and the actual status of the reference search can be checked.
Internal function: the reference search is implemented as a state machine, so interaction is possible
during execution.
Related commands: WAIT
Mnemonic: RFS <START|STOP|STATUS>, <motor>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
13
0 START – start ref. search
1 STOP – abort ref. search
2 STATUS – get status
0
see below
REPLY IN DIRECT MODE:
When using type 0 (START) or 1 (STOP):
STATUS
VALUE
100 – OK
don’t care
When using type 2 (STATUS):
STATUS
VALUE
100 – OK
0
ref. search active
other values
no ref. search
active
Example:
Start reference search of motor 0
Mnemonic: RFS START, 0
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$0d
$00
$00
$00
$00
$00
$00
With this module it is possible to use stall detection instead of a reference search.