4. CONTROL OF VIX DRIVES 67
Torque Mode Commands
For the ViX drive issue the following commands:
1MT ;Mode Torque
1W(ES,0) ;Energise input active level
1GAINS(0,0,0,0,0) ;Zero all gains
1SV ;Save settings
A valid MOTOR command is required.
All GAINS need to be 0.0
For the 6K4 issue the following commands:
AXSDEF1111 All axes are steppers
ERES8000,8000,8000,8000 Should match ViX motor resolution
DRFLVL1111 Drive fault active level
DRFEN1 Enable drive fault detection
LH0,0,0,0 Disable limits (optional)
TGAIN Read all gains
SGP Set proportional gain
SVG Set velocity gain
A
V
D
GO1 Execute move
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