Applied-motion RS-232 Manual do Utilizador Página 141
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141
920-0002 Rev. I
2/2013
Host Command Reference
MR - Microstep Resolution
Compatibility: All Stepper Drives
Affects: Microstep Resolution
See also: EG command
The MR command allows the user to set or request the Microstep Resolution of the drive.
NOTE: The MR command has been deprecated, and should no longer be used. It is included here solely for
compatibility with older programs. New applications should make use of the EG command.
Command Details:
Structure MR{Parameter #1}
Type BUFFERED
Usage READ/WRITE
Non-Volatile YES
Register Access None
Parameter Details:
Parameter #1 Microstep Resolution (code)
- units Integer
- range 0 - 15:
Code, steps/rev
0 = 200
1 = 400
3 = 2000
4 = 5000
5 = 10,000
6 = 12,800
7 = 18,000
8 = 20,000
9 = 21,600
10 = 25,000
11 = 25,400
12 = 25,600
13 = 36,000
14 = 50,000
15 = 50,800
Examples:
Command Drive sends Notes
MR8 - Set the drive’s microstep resolution to 20,000 steps/rev
MR MR=8
- 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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