PI MS249E - Page 176

8 GCS Commands
170 Version: 1.2.1 MS249E C-863.12 Mercury Controller
to the POS? query is copied into the TARGET variable. This
variable is then used as second argument for the MOV
command. Therefore, the positioner just stays where it
was. To clean up, TARGET is defined as empty with the VAR
command which deletes the variable.
Write the "stop" macro:
MAC BEG stop
MOV 1 20
JRC 2 DIO? 1 = 1
JRC -1 ONT? 1 = 0
CPY TARGET POS? 1
MOV 1 ${TARGET}
VAR TARGET
MAC END
LIM? (Indicate Limit Switches)
Description:
Queries whether axes have limit switches.
Format:
LIM? [{<AxisID>}]
Arguments:
<AxisID>: is one axis of the controller
Response:
{<AxisID>"="<uint> LF}
where
<uint> indicates whether the axis has limit switches (=1) or
not (=0).
Troubleshooting:
Illegal axis identifier
Notes:
The C-863.12 firmware detects the presence or absence of
limit switches using a parameter (ID 0x32). The C-863.12
activates or deactivates the stop motion function at the
limit switches according to the value of this parameter as
well as reference moves using FNL (p. 153) or FPL (p. 154).
Adapt the parameter value to your hardware using SPA (p.
190) or SEP (p. 186). For further information, see "Limit
Switch Detection" (p. 24).
You can use the digital input lines instead of the limit
switches as source of the negative or positive limit switch
signal. For further information, see "Digital Input Signals"
(p. 83).