Baldor FPX A05T Installation & Operating Manual page 108

4.4.3Sys.mod 3: PTP mode
Parameters:
Command Description
MOT.ACC Motion acceleration and deceleration
MOT.BUF With parameters [line] [position] [velocity]
[acceleration], the motion buffer is initialized
line by line. Query is done line by line by
only adding the parameter [line].
Query of whole motion buffer can be done
by BUFDUMP.
MOT.BUFTYPE Defines, whether buffered target positions
are absolute or incremental: 0 --
incremental; 1, 2 -- absolute
MOT.DWELL Queries / updates dwell time between the
end of a running trajectory and the trajectory
start of a stored move.
MOT.SRC Defines source of motion command 0 --
RS232 / CAN; 1 -- digital input combination x
MOT.TRIG Defines trigger for motion start:
0 -- immediate;1 -- rising edge at digital input
trigger
MOT.TYPE Defines, whether motion to (ABS, INC)
(ABS,INC) target position is absolute or incremental:
0 -- incremental; 1 -- absolute.
MOT.VEL Queries / updates motion velocity, stored in
x Reference: MOT.INCW, MOT.INCCW
Variables:
Command Description
MOT.ABSPOS Actual absolute position related to ZERO
MOT.STATUS Indicates the status of the motion process
0 -- Ready to start move
1 -- acceleration and constant velocity phase
2 -- deceleration phase of trajectory
3 -- dwell state after finishing trajectory
MOT.GENPOS Actual commanded position related to
ZERO (following the trajectory in process)
Methods:
Command Description
BUFDUMP Reads out whole buffer lines
GO Commands the buffered move (according to buffered target
position, velocity, acceleration and buffer type), chosen by
the parameter
LRN Writes actual position, velocity MOT.VEL and acceleration
MOT.ACC into the buffer line, chosen by the parameter
MOV Executes motion according to previously defined motion
type (ABS/INC), acceleration (PTP.ACC),cruise velocity
(PTP.VEL).
PLOAD Load EEPROM values of MOT.ACC, MOT.VEL, MOT.TRIG,
MOT.DWELL to octal ones (i.e. activate them)
PSAVE Saves preset values of MOT.ACC, MOT.VEL, MOT.TRIG,
MOT.DWELL into the EEPROM
MN1276
of trajectory
Units Range
RPM / 10ms 1 : 65535
line: -- line: 1 : 15
pos: velocity:
vel: RPM 0 : 7500
acc:RPM/10m acceleration:
s 0 : 65535
-- 0 : 2
ms 0 : 65534
-- 0 : 1
-- 0 : 1
-- 0 : 1
RPM 1 : 7499
Units Range
Count +/-- limit
-- 0 : 5
Count +/-- limit
Parameter
--
Motion Buffer
Line
Motion Buffer
Line
Target Position
--
--
Default E / Par. set
2
23 E / P
line: -- E / P
velocity:
0
acc.: 0
1 E / P
0 E / P
0 E / P
0 E / P
1 E / P
1000 E / P
Default E / Par. set
2
-- / --
-- / --
-- / --
Units Range
-- --
-- 1 : 15
counts1 +/-- limit
-- --
-- --
Command Set B-17