PathMaster-REV-L-4.5-1.pdf - 第164页
Machine Operati on Manual Revision L / February 2020 Page 164 of 2 00 TB TC Tell error code. Dis plays the number a nd a text description for a command error TC1 TD Tell Dual Encoder TE Tell e rror. This retu rns the cur…
Machine Operation Manual
Revision L /
February 2020
Page 163 of 200
PA
Position absolute. This sets
the destination of a move,
referenced to the origin. The
units are in counts
PA 10000,10000,1000
(commanded position
for X, Y and Z axes),
PAX=10000
(commanded position
of X axis)
It is best to limit the use of the
PA command to designating
the start of a dispense path.
Overuse of the PA command
complicates program editing
PF Position Format
PR
Position relative. This sets
the incremental position of
the next move, referenced
to the current position. The
units are in counts
PR 10000,10000,1000
(commanded change
in position for X, Y and
Z axes), PRX=10000
(commanded change
in position of X axis)
Be careful not to confuse PA
with PR. The PR command
begins its move from the
current position, without
reference to the origin
RS
Reset. Resets the controller
to its power on state. All the
information in the
controller’s RAM is erased
RS
If PathMaster® fails to
download a file correctly; the
program may be halted in the
controller. Executing an RS
command from the terminal
screen restarts the program
SB Set bit. Sets a bit on the
output port
SB40 (sets the bit for
the buzzer)
Setting a bit in DMC
terminology turns the bit off.
The opposite of SB is CB (clear
bit). A complete list of the
outputs can be found in the
Operating Guide
SH
Servo here. The controller
uses the current position as
the command position and
enables motor control
SH (activate all
motors) SHZ
(activate only the Z
motor)
The opposite of SH is MO
(motor off) SH resets all
position errors to zero
SP
Speed. Sets the speed for
independent moves. Units
are in counts per second
SP*=100000 (sets all
axes), SPX=100000
(only sets the X axis
speed), SP
10000,30000,40000
(sets X, Y and Z
speeds separately)
Make sure the value of the
acceleration is high enough to
get the motion to speed in a
reasonable amount of time
ST Stop. Halts motion on the
specified axes. If no axes are
specified, it halts program
execution
STX (stop motion on
the X axis), ST (stop
all motion and halt the
program)
Use the AM command after the
ST command to wait for motion
to be stopped
Machine Operation Manual
Revision L /
February 2020
Page 164 of 200
TB
TC Tell error code. Displays the
number and a text
description for a command
error
TC1
TD
Tell Dual Encoder
TE
Tell error. This returns the
current position error of the
motors. Units are in counts
TE
Use this command in the
terminal screen if a motor
appears to be working
incorrectly. The Dispensing
System is programmed to
disregard errors of less than
1000 counts
TP Tell Position. Returns the
current position of the
motors
TP (All axes)
TPX (X axis only)
Use in the terminal screen to
verify the current location of
the motors. In addition, the
Manual mode of the workcell
has a push button that
accomplishes the same task
VA
Acceleration for coordinated
moves. The units are in
counts per second²
VA 100000
Make sure the value of the
acceleration is high enough to
get the motion to speed in a
reasonable amount of time
VD
Deceleration for coordinated
moves. The units are in
counts per second²
VA 100000
Make sure the value of the
acceleration is high enough to
get the motion to speed in a
reasonable amount of time
VE
Vector Sequence End
VP Vector Position
VS
Vector Speed. Sets the
speed for coordinated
moves. Units are in counts
per second
VS 100000. Query the
controller with the
command MG_VS
Make sure the value of the
acceleration is high enough to
get the motion to speed in a
reasonable amount of time
WT
Wait. Holds program
execution for specified time
WT500
Use the WT command
whenever the program needs
to pause, particularly if another
action needs time for
completion
Machine Operation Manual
Revision L /
February 2020
Page 165 of 200
Notes