Applied-motion RS-232 Manual do Utilizador Página 114
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114
920-0002 Rev. I
2/2013
Host Command Reference
IX - Immediate Position Error
Compatibility: Servo drives and stepper drives with encoder feedback
Requests present position error between motor and encoder.
Command Details:
Structure IX
Type IMMEDIATE
Usage READ ONLY
Non-Volatile NO
Register Access “x” (072)
Units encoder counts
Examples:
Command Drive sends Notes
IX IX=10 Position error is 10 counts
- Host Command Reference 1
- Contents 2
- Commands 9
- YXX=A<cr> 10
- Commands in Q drives 10
- SCL Utility software 11
- Command Summary 12
- Motion Commands 13
- Configuration Commands 14
- Servo Commands 14
- Motion Commands (continued) 14
- 920-0002 Rev. I 15
- I/O Commands 16
- Q Program Commands 17
- Communications Commands 17
- I/O Commands (continued) 17
- Register Commands 18
- Command Listing 19
- AC - Acceleration Rate 20
- AD - Analog Deadband 21
- AF - Analog Filter 22
- AG - Analog Velocity Gain 23
- AI - Alarm Reset Input 24
- AL - Alarm Code 27
- AM - Max Acceleration 28
- AO - Alarm Output 29
- AP - Analog Position Gain 31
- AR - Alarm Reset (Immediate) 32
- AS - Analog Scaling 33
- AT - Analog Threshold 34
- AV - Analog Offset Value 35
- AX - Alarm Reset (Buffered) 36
- AZ - Analog Zero 37
- BD - Brake Disengage Delay 38
- BE - Brake Engage Delay 39
- BO - Brake Output 40
- BR - Baud Rate 42
- BS - Buffer Status 43
- CC - Change Current 45
- CD - Idle Current Delay Time 47
- CE - Communication Error 48
- Command Structure: 50
- CI - Change Idle Current 51
- CJ - Commence Jogging 53
- CP - Change Peak Current 56
- CR - Compare Registers 57
- CS - Change Speed 58
- CT - Continue 59
- DA - Define Address 60
- DC - Change Distance 61
- DE - Deceleration 62
- DI - Distance/Position 63
- DL - Define Limits 64
- ED - Encoder Direction 67
- EF - Encoder Function 68
- EG - Electronic Gearing 70
- EI - Input Noise Filter 71
- EP - Encoder Position 72
- ER - Encoder Resolution 73
- FD - Feed to Double Sensor 77
- FE - Follow Encoder 78
- FI - Filter Input 79
- FL - Feed to Length 82
- FP - Feed to Position 85
- FS - Feed to Sensor 86
- FX - Filter select inputs 87
- GC - Current Command 89
- HD - Hard Stop Fault Delay 90
- HG - 4th Harmonic Filter Gain 91
- HW - Hand Wheel 93
- Immediate Status Commands 94
- IA - Immediate Analog 95
- ID - Immediate Distance 98
- IE - Immediate Encoder 99
- IF - Immediate Format 100
- Command Details: 100
- Parameter Details: 100
- Examples: 100
- IH - Immediate High Output 101
- Examples: 101
- IL - Immediate Low Output 102
- IO - Output Status 103
- IP - Immediate Position 105
- IS - Input Status 107
- Response Details: 108
- IT - Immediate Temperature 110
- IU - Immediate Voltage 112
- IV - Immediate Velocity 113
- IX - Immediate Position Error 114
- JA - Jog Acceleration 115
- JD - Jog Disable 117
- JE - Jog Enable 118
- JL - Jog Decel 119
- JM - Jog Mode 120
- JS - Jog Speed 121
- KC - Overall Servo Filter 122
- KD - Differential Constant 123
- KE - Differential Filter 124
- KI - Integrator Constant 126
- KJ - Jerk Filter Frequency 127
- KP - Proportional Constant 129
- LA - Lead Angle Max Value 131
- LS - Lead Angle Speed 133
- LV - Low Voltage threshold 134
- MC - Motor Current, Rated 135
- MD - Motor Disable 136
- ME - Motor Enable 137
- MN - Model Number 138
- MO - Motion Output 139
- MR - Microstep Resolution 141
- MT - Multi-Tasking 142
- MV - Model & Revision 143
- NO - No Operation 145
- OF - On Fault 146
- OI - On Input 147
- OP - Option board 148
- Example: 150
- PB - Power-up Baud Rate 151
- PC - Power-up Current 152
- PF - Position Fault 153
- PI - Power-up Idle Current 154
- PL - Position Limit 155
- PM - Power-up Mode 156
- PN - Probe On Demand 157
- PP - Power-up Peak current 158
- PR - Protocol 159
- PS - Pause 160
- PT - Pulse Type 161
- PW - Password 162
- QC - Queue Call 163
- QD - Queue Delete 164
- QE - Queue Execute 165
- QG - Queue Goto 166
- QJ - Queue Jump 167
- QK - Queue Kill 168
- QL - Queue Load 169
- QR - Queue Repeat 170
- QS - Queue Save 171
- QU - Queue Upload 172
- QX - Queue Load & Execute 173
- RC - Register Counter 174
- RD - Register Decrement 176
- RE - Restart or Reset 177
- RI - Register Increment 178
- RM - Register Move 180
- RO - Anti-Resonance ON 181
- RR - Register Read 182
- RS - Request Status 183
- RU - Register Upload 184
- RV - Revision Level 185
- RW - Register Write 186
- RX - Register Load - buffered 187
- R+ - Register Add 188
- R- - Register Subtract 189
- R* - Register Multiply 190
- R/ - Register Divide 191
- R& - Register AND 192
- R 193
- SA - Save Parameters 194
- SC - Status Code 195
- SD - Set Direction 196
- SF - Step Filter Frequency 197
- SH - Seek Home 198
- SI - Enable Input Usage 199
- SJ - Stop Jogging 201
- SK - Stop & Kill 202
- SM - Stop Move 203
- SO - Set Output 204
- SP - Set Position 205
- SS - Send String 206
- ST - Stop 207
- TD - Transmit Delay 208
- TI - Test Input 209
- TR - Test Register 210
- TS - Time Stamp 211
- VC - Velocity Change 212
- VE - Velocity 213
- VL - Voltage Limit 215
- VM - Maximum Velocity 216
- WD - Wait Delay 218
- WI - Wait for Input 219
- WM - Wait on Move 220
- WP - Wait Position 221
- WT - Wait Time 222
- ZR - Regen Resistor Value 224
- ZT - Regen Resistor Peak Time 225
- Data Registers 226
- Using Data Registers 227
- Data Register Assignments 229
- 0 0 0 00 000 00 00 00 00 231
- X1X2X3X4XXXXXX Y1Y2 XXXX 231
- 021 Long counts 234
- Appendices 239
- Hardware 241
- COM Port Settings 242
- Communications Protocol 242
- Communication Details 243
- Communication Errors 244
- Introduction 245
- Single or multi-axis 245
- Long communication cables 245
- Appendix D: The PR Command 249
- Bit 4 - RS-485 Adapter mode 251
- PR Command Examples 252
- Alarm Code Definitions 253
- AL command 253
- “f” data register 253
- Status Code Definitions 254
- SC command 254
- “s” data register 255
- BLuDC LED codes 256
- BLuAC 7-Segment codes 256
- SV LED codes 257
- STAC6 LED codes 257
- ST-Q/Si LED codes 258
- ST-S LED codes 258
- STM LED codes 259
- Low v. High 260
- “X” Marks The Spot 260
- Parameter Details 260
- Output Parameter Details 265
- Getting Started 268
- Connecting a Drive to Your PC 268
- IP Address* 269
- LAN DRIVE 270
- Using DCHP 271
- PC NIC1 NIC2 LAN DRIVE 273
- STEP MOTOR 274
- Configuring Your Drive 275
- Creating Your Own Application 276
- Example Programs 277
- Further Reading 281
- Appendix H: EtherNet/IP 282
- Input Assembly (0x64) 283
- Configuration Assembly (0x66) 284
- Explicit Messaging 285
- Services 285
- Explicit Message Types 286
- Type 1 Message Format 286
- Type 1 Message Examples 287
- Type 2 Message Format 292
- Type 2 Message Examples 293
- +/-32000 ADC counts 299
- IO Encoding Table 305
- Register Encoding Table 306
- 0x45 long 307
- AV 0x5A short 307
- EtherNet/IP And Q Programs 308
- EtherNet/IP on large networks 310
- CIP General Status Codes 311
- Appendix I: Troubleshooting 313
- Drive Description 315
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