Baldor FPX A05T - Page 108

Command Set B-17
MN1276
4.4.3Sys.mod 3: PTP mode
Parameters:
Command Description Units Range Default E
2
/ Par. set
MOT.ACC Motion acceleration and deceleration RPM / 10ms 1 : 65535 23 E/P
MOT.BUF With parameters [line] [position] [velocity]
[acceleration], the motion buffer is initialized
line by line. Query is done line by line by
only adding the parameter [line].
Query of whole motion buffer can be done
by BUFDUMP.
line: --
pos:
vel: RPM
acc:RPM/10m
s
line: 1 : 15
velocity:
0 : 7500
acceleration:
0 : 65535
line: --
velocity:
0
acc.: 0
E/P
MOT.BUFTYPE Defines, whether buffered target positions
are absolute or incremental: 0 --
incremental; 1, 2 -- absolute
-- 0:2 1 E/P
MOT.DWELL Queries / updates dwell time between the
end of a running trajectory and the trajectory
start of a stored move.
ms 0 : 65534 0 E/P
MOT.SRC Defines source of motion command 0 --
RS232 / CAN; 1 -- digital input combination x
-- 0:1 0 E/P
MOT.TRIG Defines trigger for motion start:
0 -- immediate;1 -- rising edge at digital input
trigger
-- 0:1 0 E/P
MOT.TYPE
(ABS,INC)
Defines, whether motion to (ABS, INC)
target position is absolute or incremental:
0 -- incremental; 1 -- absolute.
-- 0:1 1 E/P
MOT.VEL Queries / updates motion velocity, stored in
x Reference: MOT.INCW, MOT.INCCW
RPM 1 : 7499 1000 E/P
Variables:
Command Description Units Range Default E
2
/ Par. set
MOT.ABSPOS Actual absolute position related to ZERO Count +/-- limit -- / --
MOT.STATUS Indicates the status of the motion process
0 -- Ready to start move
1 -- acceleration and constant velocity phase
of trajectory
2 -- deceleration phase of trajectory
3 -- dwell state after finishing trajectory
-- 0:5 -- / --
MOT.GENPOS Actual commanded position related to
ZERO (following the trajectory in process)
Count +/-- limit -- / --
Methods:
Command Description Parameter Units Range
BUFDUMP Reads out whole buffer lines -- -- --
GO Commands the buffered move (according to buffered target
position, velocity, acceleration and buffer type), chosen by
the parameter
Motion Buffer
Line
-- 1:15
LRN Writes actual position, velocity MOT.VEL and acceleration
MOT.ACC into the buffer line, chosen by the parameter
Motion Buffer
Line
MOV Executes motion according to previously defined motion
type (ABS/INC), acceleration (PTP.ACC),cruise velocity
(PTP.VEL).
Target Position counts1 +/-- limit
PLOAD Load EEPROM values of MOT.ACC, MOT.VEL, MOT.TRIG,
MOT.DWELL to octal ones (i.e. activate them)
-- -- --
PSAVE Saves preset values of MOT.ACC, MOT.VEL, MOT.TRIG,
MOT.DWELL into the EEPROM
-- -- --