53
A Appendix A: VLC System Macros
; Initialization
MD0,EF,BR921600
; position move - axis 1
MD120,1PM,MN,MA@292,GO
MD122,1PM,MN,MR@292,GO
; position move - axis 2
MD125,2PM,MN,MA@392,GO
MD127,2PM,MN,MR@392,GO
; Velocity move - axis 1
MD130,RA292,IG0,1DI0,MJ131,1DI1,AM-1,AR292
MD131,1SV@292,VM,MN,GO
; Velocity move - axis 2
MD140,RA392,IG0,2DI0,MJ141,2DI1,AM-1,AR392
MD141,2SV@392,VM,MN,GO
; Torque move - axis 1
MD133,1QM0,MN,SQ@295
MD135,1QM1,MN,SQ@295
MD137,AL@103,AR1,AL@295,AR0,1QM2,MN
; Torque move - axis 2
MD143,2QM0,MN,SQ@395
MD145,2QM1,MN,SQ@395
MD147,AL@123,AR1,AL@395,AR0,2QM2,MN
;Axis 1 Homing parameters, R209: velocity, R210: acceleration, R213:
homing method, R211: home offset, R212: error, R215: homing status,
R214: timeout
MD150,AL0,AR215,1SV@209,SA@210,RL1830,AR226,RA212,AM-1,AR223,RA213
MD151,IE0,1DH@211,EP,IE1,1DI1,MJ152,IE2,1DI0,MJ153,IE3,1DI1,MJ154,IE
4,1DI0,MJ154,IE5,1DI1,MJ155,IE6,1DI0,MJ156
MD152,MC157,MC158,MJ160
MD153,MC157,MC159,MJ160
MD154,MC157,1FI,MJ161
MD155,MC157,MC158,1ST,WA50,DI0,MC157,1FI,MJ161
MD156,MC157,MC159,1ST,WA50,DI1,MC157,FI,MJ161
MD157,1VM,MN,GO,RC
MD158,RW538,IB@223,NO,RC,RL1830,AS@226,IG@214,NO,MJ162,RP
MD159,RW538,IG@212,NO,RC,RL1830,AS@226,IG@214,NO,MJ162,RP
MD160,1ST,DH@211,WS,AL1,AR215,EP
MD161,RL448,AN1024,IE0,MJ160,NO,RL1830,AS@226,IG@214,NO,MJ162,RP
MD162,1MF,AL2,AR215,EP
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