VELMEX VXM-3 - AppendixE; Getting Motor Position When Moving

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Appendix E
Getting Motor Position When Moving
Itispossibletoreadmotorpositiondirectlywhilemotorisinmotionusingthe;DQG
<commands. Athighmotorspeedsitmightnotbetimelyoraccurateenoughto
transfermotorpositionovertheserialportwhilethemotorisinmotion. Anotherapproach
istouseanexternal
triggertotelltheVXMtocapturemotorposition(s)forlaterretrieval
(aftermotionhasended.)
TheAutomatic Deceleration Capture
Everytimethemotorstartstodeceleratetoastopthemotorpositionissavedforlater
retrievalwiththe“ ”command. Oneuseofthisfeaturewouldbetostopthemotorwith
thedecelerate-to-a-stopcommand(” ”)whenaneventhasoccurred. Thenafterwaiting
forthemoveto
end,(waitfor“^”)andreadingthepositionwheredecelerationstarted.
D
D
D
(Asterisk)Requestmotorpositionwhenthelastdecelerationoccurred. This
positioncanbefromanormalindexdeceleratingtoastop,oraninterrupted
indexfroma"D"(Deceleratetoastop)commandorStopinput/button(Userinput
4.) Belowiswhatthehostwouldreceiveifthelastmotorindexing
startedit’s
decelerationatpositionnegative14901.
-0014901<cr>
!
The Triggered Position Capture
TheVXMcancapturemotor1andmotor2position(s)eitherbythehostsendinga“!”or
fromapulseoninput4(seeAppendixC.) Upto4positionswillberecorded(oneforeach
triggerinput.) Thenafterwaitingforthemovetoend,(waitfor“^”)
thepositionscanbe
requestedwithtKH;DQG<FRPPDQGV
Capturemotor1andmotor2positionsintoFIFObuffer(4positionsmaximum.)
8VHWKH;DQG<commandstoretrievebufferdataaftermove(s)arecomplete.
bufferdataisautomaticallyzeroedatthestartofeveryrun.
NOTE:
SeeAlso
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