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GM215 Motion Commands

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MOVE MOTION COMMAND

Syntax: asn, asn, asn, asn<ENTER>

Operands: a = axis X or Y or Z or W

s = + oror <SP>

0 =< n <=16,777,215 for s = <SP>

0 =< n <=8,388,607 for s = + or –

Operation: Moves the listed axis to positions set by the n value.

Type: The command settings are local.

Description:

Because this command is likely to be used far more frequently than any other command, the number of keystrokes to enter this command are kept to an absolute minimum.

SINGLE AXIS MOVE

This command causes the axis to accelerate at the ACCELERATION value rate, reach a speed set by the VELOCITY value and decelerate to a stop at a position set by the n destination value. These values can be changed even while the axis is in motion, the axis will stop at the expected destination.

Example:

Z 10000 <ENTER>

Z means the Z axis is selected

<SP> means this is an absolute move

10000 means move to a location that is 10,000 increments of motion from the zero position.

<ENTER> indicates the command is complete.

X+1234 <ENTER>

X means the X axis is selected

+ means this is a relative move in the clockwise direction

1234 means move 1234 increments of motion CW from the present location.

<ENTER> indicates the command is complete.

Y-10 <ENTER>

Y means the Y axis is selected

- means this is a relative move in the counter-clockwise direction

10 means move 10 increments of motion CCW from the present location.

<ENTER> indicates the command is complete.

The axis position is continuously compared to the limit value set by the LIMIT CW command. Any move that is beyond that limit results in the axis decelerating to a stop. No further motion command is permitted. Use software reset (press E-STOP button in GUI) or hardware reset (IN1 in RUN mode) to unlock the motor.

Warning: User should use an appropriate value of n when using this command.

For example: X+1000 (move 1000 steps CW)

X-2000 (THEN move 2000 steps CCW) is illegal and should be strictly forbidden. (x -1000 is OK)

MULT-AXIS MOVES

All axis start to move at the same time. If an axis is included in VECTOR AXIS command, it will combine with the other included axis to generate a straight-line vector path to the destination. If the axis is not included, it will act independently and use its own ACCELERATE and VELOCITY values to reach the destination set by the n value.

X+4000, Y-3000, W 5000 <ENTER>

X means the X axis is selected

+ means this is a relative move in the clockwise direction

4000 means move the X axis 4000 increments of motion CW from the present location.

, indicates another axis is to be included

Y means the Y axis is selected

- means this is a relative move in the clockwise direction

3000 means move the Y axis 3000 increments of motion CCW from the present location.

<ENTER> indicates the command is complete.

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HOME MOTION COMMAND

Syntax: HOME a, a, a, a <ENTER>

Operands: HOME = HOME command

a = axis X or Y or Z or W

Operation: Moves the listed axis to the HOME switch location.

Type: The command's OFFSET value is global.

Description:

The HOME command moves the selected axis CCW towards a HOME switch connected to IN2. The axis acceleration rate is the ACELERATE command value and velocity set by the VELOCITY command value. When the HOME switch closes, the axis decelerates to a stop, reverses direction to CW and runs at a slow speed while the HOME switch is closed. When the HOME switch opens, an automatic CW move from the HOME switch position is then made. The distance moved is the axis' ZERO OFFSET value. When this automatic move finishes, the axis position register is cleared. If no ZERO OFFSET value has been entered, then its default value is zero.

Once the HOME command finishes, the user program advances to the next command line. Any subsequent motion command that moves the axis to a position less than zero (the OFFSET position) or greater than the LIMIT CW command value should not be allowed.

Before run a HOME command, user need set a relative high acceleration and a relative low velocity as “go home acceleration and velocity”. (See code sample for reference)

Example:

HOME X <ENTER>

HOME is the HOME command

X is the selected axis

<ENTER> means the command entry is finished

Multiple axis can be homed simultaneously to save time spent in this command. The X, Y and Z axis will home at the same time if the command was written as:

HOME X, Y, Z <ENTER>

HOME is the HOME command

X is the selected axis

, means more axis will be included

Y means the Y axis is included

, means more axis will be included

Z means the Z axis is included

<ENTER> means the command entry is finished. The previously set axis OFFSET values will be used.

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JOG MOTION COMMAND

Syntax: JOG a, a, a, a <ENTER>

Operands: a = axis X or Y or Z or W

Operation: Move the axis using switches or trimpots.

Type: The command requires a hardware exit.

Description:

If the ANALOG INPUT command doesn't include the axis, the JOG command uses IN2 as the JOG CW switch input and IN3 as the JOG CCW switch input. Pushing the CW or CCW switch causes the axis to accelerate at the ACCELERATE command value to a velocity set by the VELOCITY command value. The axis decelerates to a stop when the jog switches are released. The axis position is continuously compared to the LIMIT CW command value and the ZERO OFFSET position value limits. Any jog switch command that moves the axis out-of-bounds results in the axis decelerating to a stop. Then only jog commands that move the axis back into bounds are allowed.

If the ANALOG INPUT command includes the axis, then TRIM4 is the JOG command input. When TRIM4 is less than 25% the motor will travel CCW. When TRIM4 is more than 75% the motor will travel CW. When TRIM4 is between 25% and 75% the motor will stop. The axis out-of-bounds response is the same as for jog switch inputs. TRIM3 is used to set JOG acceleration, and TRIM5 is used to set JOG velocity.

Example:

JOG X

X means the X axis is selected

JOG is the JOG command

<ENTER> means the command entry is complete

Once invoked, the JOG command cannot terminate on its own because it is an open ended command. A momentary logic '1' on IN1exits the JOG command. A simultaneous momentary logic '1' on IN2 and IN3 (by pressing SW2 and SW3 at the same time) can also exit the JOG command. The user program then advances to the next command.

If JOG is used in a 2 axis system, a switch-type or potentiometer-type joystick can be used. Apply hardware exit on both drive to exit this command.

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SPEED CONTROL MOTION COMMAND

Syntax: a SPEED CONTROL sn <ENTER>

Operands: a = X or Y or Z or W

s = + or -

0 <= n <= 32767

Operation: The axis runs continuously at set speeds.

Type: The command requires a hardware exit.

Description:

This is special 'canned' command that runs the axis continuously at a set speed. IN1 can be connected to a Stop/Run button, and CW/CCW travel distance limit switches can be used with IN2 and IN3 to change motor direction. The ANALOG INPUT command value determines the source of acceleration and velocity values if the axis is included. TRIM5 sets the CW velocity and TRIM4 sets the CCW velocity.

Example:

Z SPEED CONTROL +12345 <ENTER>

SPEED CONTROL is the SPEED CONTROL command

Z means Z is the selected axis

+ means the motor direction is CW.

12345 means move the axis at a speed of 12345

<ENTER> means the command entry is finished

TRIM5 and TRIM4 multiply the velocity value from 0 to 1 to set the CW and CCW velocities.

OPTIONAL SWITCH INPUTS (use momentary switches only)

If limit switches are used, IN2 is the CCW travel distance limit, IN3 is the CW travel distance limit and IN1 is the Run/Stop switch input.

The initial motor direction is set by the SPEED CONTROL command sign operand. The motor will accelerate to speed in the CW direction if the sign is '+'. The axis moves in the initial direction until it encounters a limit switch. The motor then decelerates to a stop and then accelerates to speed in the opposite direction. This process continues indefinitely until the command is terminated.

At any time the axis can be decelerated to a stop by applying a logic '1' to IN1. Releasing IN1 (logic '0') results in the axis accelerating back to speed in the same direction it was going before.

Once invoked, the SPEED CONTROL command cannot terminate on its own because it is an open ended command. A simultaneous momentary logic '1' on IN2 and IN3 (by pressing SW2 and SW3 at the same time) exits the SPEED CONTROL command. The user program then advances to the command.

Categories: Motor Control Manuals Stepper Drives