Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-29
Motion and Axis Commands
Note:
The datuming input set with the
DATUM_IN
is active low so is set when the input is
OFF. This is similar to the
FWD
,
REV
and
FHOLD
inputs which are designed to be “fail-
safe”.
Example:
DATUM_IN=10
DATUM(5)
DEC
Type:
Axis Command
Syntax:
DEC(rate)
Description:
Sets the deceleration rate for an axis. The
DEC()
command is provided to maintain
compatibility with older controllers. The Axis Parameter
DECEL
provides the same
functionality and is preferred.
Parameters:
Note:
ACC()
sets both the acceleration and deceleration rates.
DEC()
sets only the decel-
eration rate.
5
The axis moves at programmed speed forward until the datum switch is
reached. The axis then reverses at creep speed until the datum switch is
reset. It then continues in reverse looking for the Z marker on the
motor. The demand position where the Z input was seen is then set to
zero and the measured position corrected so as to maintain the following
error.
6
The axis moves at programmed speed reverse until the datum switch is
reached. The axis then moves forward at creep speed until the datum
switch is reset. It then continues forward looking for the Z marker on
the motor. The demand position where the Z input was seen is then set to
zero and the measured position corrected so as to maintain the following
error.
Seq. Description
rate:
The units of the parameter are dependant on the unit conversion fac-
tor. The deceleration factor is entered in UNITS/SEC/SEC.
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