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To select Encoder On/Off, type the Command Key 'E'. This parameter specifies if Encoder Correction is to be Enabled
or Disabled. A '1' will Enable Encoder Correction, a '0' will Disable it. The Indexer will do all the appropriate corrections
needed when the Finish Move (F) command is executed. The default value for this is 0, or no encoder correction.
ENCODER RESOLUTION (any number)
To select Encoder Resolution, type the Command Key 'Z'. This parameter specifies how many 'lines' the Encoder has.
The default value for this is 400 lines.
ENCODER RETRIES (any real number)
To select Encoder Retries, type the Command Key 'V'. This parameter specifies how many times the CLCI2000 will try
to obtain the correct position. For a value set at 1, the CLCI2000 will move the correct distance, and then retry once if
the encoder value does not match the number of steps the motor was supposed to take. When the CLCI2000 does a
retry, it will always retry the move at the Base Speed. The default value for Encoder Retries is 0.
ENCODER WINDOW (any integer)
To select Encoder Window, type the Command Key 'Y'. This is the allowable error the encoder might have at the end
of a move without correcting. The units for this is in Quadrature Pulses. For a 400 line encoder, there will be 1600
quadrature pulses per one revolution. The default value for this is 20.
FINISH MOVE (no value)
To select Finish Move, type the Command Key 'F'. This is the command that will wait until all motion is complete before
continuing on in the program. This is the Command that also tells the Indexer to autocorrect at this time if the Encoder
Correction is Enabled. This command is useful because it enables other operations to be done while an axis is indexing.
The sample program below is a section of a larger program. It shows how a Finish command might be used.
10 AXIS A
11 N4000
12 +
13 G
14 UNTL XXXXX XXX1X 14
15 AXIS B
16 -
17 GO
18 AXIS AB
19 FNSH
Line 10 chooses Axis A as the only active axis. It sets the number to index at 4000, and initiates an index in the
Clockwise Direction. After the Go Command, the program will wait until input 2 becomes active (0 VDC) before it
continues on. Once Input 2 is activated, the program will select Axis B and index in the Counterclockwise direction.
The Finish Command then will cause the program to wait until the active axes have completed their motion before
continuing on.
GO (INDEX) (no value)
To select Go, type the Command Key 'G'. This is the command that will index the motor the number of steps specified
by the Number To Index Command. NOTE: To halt program execution until the motion on all axes has stopped, include
the Finish Command in the appropriate position.