PI MS249E - Page 195

8 GCS Commands
C-863.12 Mercury Controller MS249E Version: 1.2.1 189
Format:
SMO {<AxisID> <ControlValue>}
Arguments
<AxisID> is one axis of the controller.
<ControlValue> is the new control value (dimensionless).
See below for details.
Response:
None
Troubleshooting:
Illegal axis identifier
Servo mode is switched on for one of the specified axes.
Notes:
NOTICE: In the case of large control values, the positioner
can collide with the hard stop despite the limit switch
function. This can cause damage to equipment.
The unsigned control value may not be greater than the
value of the Maximum Motor Output parameter (0x9).
When this parameter is set to its maximum (32767),
<ControlValue> ranges from -32766 to 32766
(dimensionless). The sign of the value determines the
direction of motion.
<ControlValue> controls the PWM converter for the axis
(see block diagram (p. 11)).
For further information, see "Motor Control" (p. 11).
Example:
Send: SMO 1 -16000
Note: The control value is about half the maximum control
value. The axis moves in negative direction.
SMO? (Get Control Value)
Description:
Gets last valid control value of given axis.
Format:
SMO? [{<AxisID>}]
Arguments
<AxisID> is one axis of the controller
Response:
{<AxisID>"="<float> LF}
where
<float> is the last valid control value (dimensionless). For
details see below.