Parker PDHX-E Series User Manual page 41

position referenced, even while in incremental mode. However, the counter does have an
upper limit just slightly more than 268,400,000 counts.
Continuous Moves
Continuous moves (MC command) cause the motor to accelerate and attain the specified
velocity and then continue to move. To change velocity while the motor is moving use the V
command. Issuing a stop (the S command) will cause the motor to decelerate to a stop at
the last defined acceleration rate. The distance parameter is not used, although it is saved in
case the mode is changed back to preset.
This mode is useful for applications which require constant spinning of the load, when the
motor must stop after a period of time has elapsed rather than after a fixed distance, or when
the motor must be synchronised to external events such as trigger input signals.
Speed Change Mode
The MQ command allows speed changes to be made during a preset move. The speed
changes can be triggered at a set distance using the TRD command or by an input using the
TRE command.
Registration Moves
A move may be programmed to end a specified distance after a registration pulse appears at
AUX-IN. The mode is selected using the TRR command with the required registration
distance in the MQ or MC modes. Its use is easiest to understand in the context of an
example registration move:
AUX-IN
VELOCITY
START
Example Program
MQ Select MQ mode
D6200 Set move distance to 6200 steps
A100 Set all accelerations to 100 revs/sec
V10 Set velocity to 10 revs/sec
G Go
TRD4000 At distance = 4000 steps
V1 Change velocity to 1rev/sec
TRD6020 At distance 6020 look for registration pulse
TRR1440 Travel 1440 steps from registration pulse
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HOLD OFF DISTANCE (6020)
1
2
3
INCREMENTAL DISTANCE (6200)
Figure 5-1. Example Registration Move
HOLD OFF COMPLETE
REGISTRATION MARK
7 ENCOUNTERED
4 5
6
9
REGISTRATION
DISTANCE (1440)
2
PATH IF NO MARK
8