Parker PDHX-E Series User Manual page 71

Multiple Positioner Commands
When multiple positioners are on the communications line, commands like the previous
example are executed by all positioners on the line. To send commands to a single
positioner, the device address of that positioner should be put in front of the instruction. The
device address is set using the DIP switch on the individual positioner.
Example:
Three positioners are on an RS232C chain. They are sent the following commands:
MN A10 V10 1D25000 2D50000 3D100000 G
Unit 1 moves 25000 steps, unit 2 moves 50000 steps, and unit 3 moves 100000 steps. All
three use the same move profile rates.
During sequence download to one axis in a chain, all of the other axes must have their
communication switched off by use of the F command. The alternative is to make each
command in the sequence device specific by adding the device address.
Programming Modes
Normal Mode
The command MN selects normal mode. In this mode moves are set by the D command.
Within normal mode there are two options, absolute mode and incremental mode:-
Absolute Mode
The command MPA puts the positioner into absolute position mode. Distances entered using
the D command are interpreted as absolute positions relative to absolute zero
Example:
MPA
PZ
D4000
G
D2500
G
Incremental Mode
The command MPI puts the positioner into incremental positioning mode. D command
distances are interpreted as the number of steps to move from the current position.
Example:
1MPI
1PR
1D4000
1G
1D-3000
1G
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Sets absolute mode
Sets current position to be absolute zero
Sets move to absolute position 4000
Execute move
Sets move to absolute position 2500
Executes move of 1500 steps CCW
Sets incremental mode
Response=1500 (current position)
Sets move to be 4000 steps CW
Executes move to position 5500
Sets move to 3000 steps CCW
Executes move to position 2500