CL set closed loop update interval
IMM PGM MIP
USAGE ♦ ♦ ♦
SYNTAX xxCLnn or xxCL?
PARAMETERS
Description xx { int ] - axis number
nn [ int ] - closed loop update interval
Range xx - 0 to MAX AXES
Units xx - none
nn - milliseconds
Defaults xx missing: error 37, AXIS NUMBER MISSING
nn missing: error 38, COMMAND PARAMETER MISSING
out of range: error 7, PARAMETER OUT OF RANGE
DESCRIPTION This command is used to set the closed loop update interval for an axis. This will
be the time duration between position error corrections during closed loop
stepper positioning. Note that this command is effective only for steeper motors.
If "0" is used as an axis number, this command will set the specified interval to
all the axes.
RETURNS If "?" sign takes the place of nn value, this command reports the current setting.
REL. COMMANDS ZB - set feedback configuration
EXAMPLE 3ZB300 | enable encoder feedback and closed loop positioning of axis #3
3DB1 | set position deadband value to 1 encoder count
3DB? | query deadband value
3CL100 | set closed loop update interval to 100 milliseconds
3CL? | query closed loop update interval
100 | controller returns a value of 100 milliseconds
nn - 0 to 60000
out of range: error 9, AXIS NUMBER OUT OF RANGE
Furthermore, note that encoder feedback and closed loop positioning must be
enabled for this command to be effective. Refer to feedback configuration (ZB)
command for enabling these features in the case of stepper motors.
DB - set position deadband value
1 | controller returns a value of 1 encoder count
3-40 Section 3 – Remote Mode
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