U511 User’s Manual Programming Commands
Version 1.1 Aerotech, Inc. 5-43
5.5.31. FREERUN
The FREERUN command is used to produce background motion of designated axes.
Freerun motion is completely unsynchronized to contoured motion.
SYNTAX:
FREERUN axis
feedrate,distance
FR axis
feedrate,distance
axis Defines the axes (X, Y, Z, or U) under Freerun control.
feedrate Defines direction and velocity of the axes under freerun. If
the feedrate equals zero, freerun will stop. Upon initializing
the U511, the default units for feedrate are in units/min. The
units are defined by the “English and Metric conversion
factors.” The units for feedrate can be changed by the
PROGRAM command.
distance Defines the distance of the freerun. If the distance is not
included, the axis will run until commanded to stop.
The FREERUN command must be used with one axis at a time.
Following freerun of an axis, it is advisable that the SOFTWARE POSITION
command be executed to update the position registers with the current position of the
axes. See the section on System Registers.
Trajectory for freerun motion is linear only. Ramping is based on maximum acceleration.
The corner-rounding and velocity profiling options are not available to axes under freerun
control.
EXAMPLES:
FR X100 ;The X axis will run continuously in the positive direction
;at a feedrate of 100
FR Y-100,2000 ;Enables the Y axis for freerun in the negative direction
;with a feedrate of 100. Freerun will stop at 2000
FR X0 ;Stops X axis freerun
Related commands
INDEX, LINEAR, CW_CIRCLE, CCW_CIRCLE, ACCELERATION, SOFTWARE
POSITION, PROGRAM, G70, G71, G91, G92
E
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