AMS DCB-274 manual Index Relative to Origin

ADVANCED MICRO SYSTEMS, INC.					SMC-27X2 SOFTWARE
Command	Function		Type			NV Bytes
Q	List Program		Immediate			N/A
	Mnemonic	Data 1		Data 2		Result
	(Name) Q (a)	Address (0-2047)		None		Listing

Q (List Program) (Note: Use in dumb terminal, single line mode).
List program stored in non-volatile memory using the format:
Address	Instruction	Value 1	Value 2

The values will be displayed only if applicable to the particular instruction type. Twenty instructions are displayed at a time. Use the <CR> key to list up to 20 more commands without pause. ESC quits and any other key single steps the listing.

Command	Function		Type		NV Bytes
R	Index Relative to Origin		Immediate, Program		4
	Mnemonic	Data 1		Data 2	Result
	(Name) R (n)	Position (±8,388,607)		None	None

R (Index Relative to Origin)

Move, with ramping, relative to the “0” origin. The target position has a range of ±8,388,607 steps from the ‘0’ origin.

The motion sequence is:

1.Wait until any previous motion is finished,

2.Read the current position then calculate the distance to the new target position,

3.Energize the motor winding,

4.Start stepping at the rate of the initial velocity (I),

5.Accelerate using a profile defined by the fixed table that approximates straight-line acceleration and a slope set by the “K” command,

6.The acceleration continues until the slew speed as specified by the “V” command is attained,

7.Motion continues at the slew speed, until the deceleration point is reached,

8.Decelerate (determined by the second “K” value) to a stop completing the index,

9.If another index is not commanded for the settling period, power down the motor (if auto power down is enabled).

This command may be implemented within a program. It is very useful when used in conjunction with the Origin command. Following, is an example:

P 0	Enter program mode.
O	Set origin and counter to 0.
R 1000	Move to position 1000 relative to 0.
P	Exit program mode.

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