PCIx Specifications - Pro-Dex, Oregon Micro Systems - #49

Text version of the page

COMMAND STRUCTURE SYSTEM STATUS AND CONTROL COMMANDS PCIx User’s Manual 5-13 5.4.5. USER UNIT COMMANDS The following commands allow specification of move parameters in user defined units. In the UU mode, the controller will automatically convert all move parameters to these units once they have been initialized COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION UF 5-180 C User units off UU 5-182 C User units, multiply acceleration, velocity and distance parameters by specified parameter ?UU 5-183 Q Report axis user units 5.4.6. AXIS STATUS COMMANDS The PCIx monitors the various inputs and conditions that can affect motor movement and system status. This information is frequently needed by host applications so that proper motion decisions can be made and appropriate actions taken. The following commands provide this status feedback to the host. COMMAN D PAGE Q = QUERY C=CMD COMMAND DESCRIPTION EA 5-70 Q Encoder status QA 5-149 Q Query axis status QI 5-149 Q Query interrupt status RA 5-150 Q Report axis status RI 5-154 Q Report interrupt status 5.4.7. MACROS In applications that must perform frequent, repetitive tasks, macros can be used to minimize communication bandwidth consumption and speed up initial task execution. Macros are storage areas in the PCIx of which 5 are “temporary”; i.e. not saved at power-off, and 20 are “permanent”; i.e. stored in non-volatile flash RAM. Macros can be edited, stored, read back to the host, and executed using the following commands. COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION MD 5-131 C Temporary macro define MX 5-139 C Macro execute PM 5-144 C Print macro PT 5-148 C Preserve a temporary macro