User Manual Chapter 6
GFK-1742F Jan 2020
Non-Programmed Motion 163
Chapter 6: Non-Programmed Motion
The DSM314 can generate motion in an axis in one of several ways without using a motion
program.
•
Find Home and Jog Plus/Minus use the %Q bits to command motion.
•
Move at Velocity, Move, Force Servo Velocity, Force Analog Output, and Position
Increment use %AQ immediate commands.
During Jog, Find Home, Move at Velocity, Move and Force Servo Velocity, any other
commanded motion, programmed or non-programmed, will generate an error. The only
exception is the Position Increment %AQ command, which can be commanded any time.
See the description of Position Increment motion below for more details.
Non-programmed motions (Abort All Moves, Jog Plus/Minus, Move at Velocity, AQ Move
Cmd and Normal Stop) use the Jog Acceleration and Jog Acceleration Mode. The Feed Hold
%Q command uses the programmed acceleration and acceleration mode.
6.1 DSM314 Home Cycle
A home cycle can be used to establish a correct Actual Position relative to a machine
reference point. The configured Home Offset defines the location of Home Position as the
offset distance from the Home Marker.
The Enable Drive %Q bit must be ON during an entire home cycle. However, the Find Home
%Q bit does not need to be held ON during the cycle; it may be turned on momentarily with
a one-shot. Note that turning ON the Find Home %Q bit immediately turns OFF the Position
Valid %I bit until the end of the home cycle. The Abort All Moves %Q bit halts a home cycle,
but the Position Valid bit does not turn back ON. No motion programs can be executed
unless the Position Valid bit is ON.
6.1.1 Home Switch Mode
If the Find Home Mode is configured as HOMESW (HOME Switch), the Home Switch input
from the axis I/O connector is used first to roughly indicate the reference position for home.
Then, the next encoder marker encountered when traveling in the negative direction
indicates the exact location. An open Home Switch input indicates the servo is on the
positive side of the home switch and a closed Home Switch input indicates the axis is on the
negative side of the home switch. An OFF to ON transition of the Find Home %Q command
yields the following home cycle. Unless otherwise specified, acceleration is at the current
Jog Acceleration and configured Jog Acceleration Mode.
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