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D
Distance
Type
Motion
Syntax
<a_><!>D<r>
Units
r = distance units (scalable by SCLD)
±999,999,999.99999
Range
Default
4000
Response
D:
*D+4000
See Also
[ D ], DMEPIT, DRES, ERES, GO, IF, MA, MC, PSET, SCLD, TSTAT,
VARI, WAIT
The Distance (
) command defines either the number of units the motor will move or the absolute position
D
it will seek after a
command. In the incremental mode (
GO
number of units you wish the motor to move. In the absolute mode (
absolute position the motor will end up at; the actual distance traveled will vary depending on the absolute
position of the motor before the move is initiated.
In the incremental mode (
MAØ
of the distance value (e.g.,
D-10000
direction without changing the distance value by using the
tilde (
) is a means of toggling the direction.
~
The distance remains set until you change it with a subsequent distance command. Distances outside the valid
range are flagged as an error, returning the message
UNITS OF MEASURE and SCALING: refer to page 16.
ON-THE-FLY CHANGES: You can change distance on the fly (while motion is in progress) in two ways.
One way is to send an immediate distance command (
The other way is to enable the continuous command execution mode (
distance command (
) followed by a buffered go command (
D
Direction of Motion for Rotary Motors:
Positive distance values (e.g.,
negative values (e.g.,
D-20000
assumes you connected the motor (and feedback device for servos) according
to the Hardware Installation Guide instructions.
Example:
SCALE1
; Enable scaling
SCLA25000
; Set the acceleration scaling factor for to 25000 steps/unit
SCLV25000
; Set the velocity scaling factor to 25000 steps/unit
SCLD1
; Set the distance scaling factor to 1 step/unit
DEL proga
; Delete program called proga
DEF proga
; Begin definition of program called proga
MA0
; Incremental positioning mode
MC0
; Preset positioning mode
A10
; Set the acceleration to 10 units/sec/sec
AD1
; Set the deceleration to 1 units/sec/sec
V1
; Set the velocity to 1 units/sec
D100000
; Set the distance to 100000 units
GO1
; Initiate motion
END
; End definition of program called proga
), you can specify a negative distance by placing a dash or hyphen (-) in front
). Otherwise, the direction is considered positive. You can change
*INVALID DATA-FIELD x
) followed by an immediate go command (
!D
) represent clockwise motion and
D20000
) represent counter-clockwise motion. This
www.comoso.com
), the distance value represents the total
MAØ
) the distance value represents the
MA1
,
, or
operators (e.g.
, or
+
-
~
D+
, where
) and execute a buffered
COMEXC1
).
GO
Clockwise
(positive counts)
Command Descriptions
Product
Rev
GT6K
6.0
GV6K
6.0
or
); the
D-,
D~
is the field number.
x
).
!GO
Counter-clockwise
(negative counts)
59
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