Anaheim CLCI2000 Oneatmaxccw ADDRESS, Axis, Oneatmaxcw ADDRESS, Axis, Originindexcw ADDRESS, Axis

ONE_AT_MAX_CCW (ADDRESS, AXIS)

This will go one step at the maximum speed in the CCW Direction.

ONE_AT_MAX_CW (ADDRESS, AXIS)

This will go one step at the maximum speed in the CW Direction.

ORIGIN_INDEX_CCW (ADDRESS, AXIS)

This will move at base speed until the EZ Channel of the Encoder goes active, and the pulses will stop.

ORIGIN_INDEX_CW (ADDRESS, AXIS)

This will move at base speed until the EZ Channel of the Encoder goes active, and the pulses will stop.

POSITION (ADDRESS, AXIS, VALUE)

This will go to the position specified.

RAMP_TO_BASE_CCW (ADDRESS, AXIS)

This will ramp the motor from Max Speed to Base Speed.

RAMP_TO_BASE_CW (ADDRESS, AXIS)

This will ramp the motor from Max Speed to Base Speed.

RAMP_TO_STOP_CCW (ADDRESS, AXIS)

This will ramp the motor from Max Speed to Base Speed and stop.

RAMP_TO_STOP_CW (ADDRESS, AXIS)

This will ramp the motor from Max Speed to Base Speed and stop.

READ_ENCODER (ADDRESS, AXIS)

This will read the value in the encoder register.

READ_POSITION (ADDRESS, AXIS)

This will return the Value in the Position Register.

SET_ENCODER (ADDRESS, AXIS, VALUE)

This will set the number in the Encoder Register. The values should range between 0 and 16777215.

SET_OUTPUT1 (ADDRESS, OUT5, OUT4, OUT3, OUT2, OUT1, HOME.DIR.1, HOME.DIR.2)

This will set the 5 outputs and the active direction for the Home Limit Switch. The five numbers specify what the state of the five Outputs will be. A '1' for the Outputs will turn the Output ON, and a '0' will turn the output OFF. The last two numbers will specify which direction for the home switch (+ or -) will be chosen. Only one direction for the home switch may be chosen for each axis at a given time. A '1' will specify that the '+' or 'CW' direction Home Limit Switch will be chosen. A '0' will specify that the '-' or 'CCW' direction Home Limit Switch has been chosen. For Example:

SET_OUTPUT1 &H300,1,1,1,0,0,1,1

would set outputs 5,4, and 3 ON, and outputs 2 and 1 Off. It would also set the +Home Limit Switch for both axis 1 and 2 to be the Active Switch.

SET_OUTPUT2 (ADDRESS, OUT10, OUT9, OUT8, OUT7, OUT6, HOME.DIR.1, HOME.DIR.2)

This will set the 5 outputs and the active direction for the Home Limit Switch. The five numbers specify what the state of the five Outputs will be. A '1' for the Outputs will turn the Output ON, and a '0' will turn the output OFF. The last two numbers will specify which direction for the home switch (+ or -) will be chosen. Only one direction for the home switch may be chosen for each axis at a given time. A '1' will specify that the '+' or 'CW' direction Home Limit Switch will be chosen. A '0' will specify that the '-' or 'CCW' direction Home Limit Switch has been chosen. For Example:

SET_OUTPUT2 &H300,1,1,0,1,0,0,0,1

would set outputs 5 and 3 ON, and outputs 4,2 and 1 Off. It would also set the +Home Limit Switch for axis 3 and the -Home Limit Switch for Axis 4.

SET_POSITION (ADDRESS, AXIS, VALUE)

This will set the number in the Position Register.

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