Delta Computer Systems TMC 188/40 Series Manual page 41

TMC 188/40 Motion Control Module
NOTE: You must use an OFFSET that is smaller than the value in the REQUESTED POSITION
field. The REQUESTED POSITION value must be between the EXTEND and RETRACT
limits. This gives a margin around the HOME position where the axis can be without
exceeding the limits of the ACTUAL POSITION range.
'=' - Copy Event Program (3DH, 61D) - Event Control Firmware only
This command copies the Event Control Firmware program from VMEMORY to the Motion
Control Module.
'^' - Set Pressure Command (5EH, 94D) - Analog option only (In Event Step Table)
This command sets the PRESS CMD parameter. The target pressure will ramp to the
PRESS CMD value at the rate specified by PRESS RAMP.
'\' - Pressure Ramp Rate (5CH, 92D) - Analog option only (In Event Step Table)
This command sets the rate at which the pressure target ramps to a new command pressure.
The units are 0.01 pressure units per 2 milliseconds. A value of 200 in the PRESS RAMP
field will ramp the pressure target by 1,000 units in 1 second.
'_' - Set Pressure Low (5FH, 95D) - Analog option only (In Event Step Table)
This command sets the pressure below which the Motion Control Module changes from
Pressure Control to Position Control.
do not
In DCSMON,
'Shift @' - Quadrature Home (40H, 64D) - Quadrature option only
This command automatically moves the axis, attempting to find the HOME position on a
quadrature axis. The AT COMMAND POSITION bit must be set and the axis initialized (with
a „P‟ command) before the MCM will accept the „@‟ command. When the HOME input is
true, the ACTUAL POSITION is set to the value in the REQUESTED POSITION field.
NOTE: The FEED FORWARD, SPEED, MODE, ACCEL, and DECEL parameters must be set to
desired values when the „@‟ command is issued. During the „@‟ routine the axis moves
open loop and the drive value is calculated as FEED FORWARD x SPEED / 10000.
The „@‟ command works as follows:
1) The AT COMMAND POSITION bit is cleared and the axis retracts until one
of the following conditions is met:
2) The axis then extends until the condition clears, reduces speed by half, then
repeats Step 1.
3) Steps 1 and 2 repeat until the axis stops exactly on the HOME position.
Delta Computer Systems, Inc. 360/254-8688
press Alt for the following command:
A) The HOME input is true
B) The LIMIT input is false, or
C) The axis is obstructed
Motion Control Parameters
41