108
Command Reference List Section 6-2
CLUTCH_RATE CLUTCH_RATE defines the change in connection ratio when
using the CONNECT command.
126
CREEP CREEP contains the creep speed. 129
D_GAIN D_GAIN contains the derivative control gain. 129
DATUM_IN DATUM_IN contains the input number to be used as the ori-
gin input.
130
DECEL DECEL contains the axis deceleration rate. 131
DEMAND_EDGES DEMAND_EDGES contains the current value of the DPOS
axis parameter in encoder edges.
132
DPOS DPOS contains the demand position generated by the move
commands.
132
ENCODER ENCODER contains a raw copy of the encoder hardware reg-
ister.
136
ENDMOVE ENDMOVE holds the position of the end of the current move. 136
ERRORMASK ERRORMASK contains the mask value which determines if a
Motion Error occurs depending on the axis status.
137
FAST_JOG FAST_JOG contains the input number to be used as the fast
jog input.
137
FE FE contains the following error. 138
FE_LIMIT FE_LIMIT contains the maximum allowable following error. 138
FE_RANGE FE_RANGE contains the following error warning range limit. 139
FHOLD_IN FHOLD_IN contains the input number to be used as the feed-
hold input.
137
FHSPEED FHSPEED contains the feedhold speed. 139
FS_LIMIT FS_LIMIT contains the absolute position of the forward soft-
ware limit.
142
FWD_IN FWD_IN contains the input number to be used as a forward
limit input.
142
FWD_JOG FWD_JOG contains the input number to be used as a jog for-
ward input.
142
I_GAIN I_GAIN contains the integral control gain. 150
JOGSPEED JOGSPEED sets the jog speed. 153
LINK_AXIS LINK_AXIS contains the axis number of the link axis during
any linked move.
154
MARK MARK contains TRUE when a registration event has
occurred.
155
MERGE MERGE is a software switch that can be used to enable or
disable the merging of consecutive moves.
156
MPOS MPOS is the position of the axis as measured by the encoder. 163
MSPEED MSPEED represents the change in the measured position in
the last servo period.
163
MTYPE MTYPE contains the type of move currently being executed. 163
NTYPE NTYPE contains the type of the move in the Next Move buffer. 165
OFFPOS OFFPOS contains an offset that will be applied to the demand
position without affecting the move in any other way.
165
OPEN_WIN OPEN_WIN defines the beginning of the window in which a
registration mark is expected.
167
OUTLIMIT OUTLIMIT contains the limit that restricts the speed reference
output from the MC Unit.
168
OV_GAIN OV_GAIN contains the output velocity control gain. 168
P_GAIN P_GAIN contains the proportional control gain. 169
PP_STEP PP_STEP contains an integer value that scales the incoming
raw encoder count.
169
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