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MT
Find hardware travel limit.
Description
xxMTnn
Syntax
This command is used to move an axis to its limit (positive or negative). The controller will
Remarks
automatically stop the axis after crossing the travel limit. If this command is issued when an
axis' motion is in progress, the controller will ignore this command and generate "MOTION IN
PROGRESS" error message.
The controller executes a unique sequence of motion in order to locate and finally stop the
positioner at a repeatable limit position. The repeatability precision depends mostly on the
repeatability of the limit switch itself and ability to stop and hold final position. It is not
unusual for a Limit signal to be repeatable to within 20 encoder counts (e.g., 8310 and 8310-V
actuators).
Positioners with Limit signals typically have a negative and positive travel limit. Hence, the
Find Limit function requires that the user tell the controller which limit (positive or negative) to
find so the controller can move in that direction.
The MT motion status can be monitored using the Motion Done (MD?) command.
NOTE: The controller will NOT stop motion until it finds the travel limit. Send the Stop
NOTE: Travel limit signal checking should first be enabled (see ZH command) before
NOTE: MT is compatible with 8310 and 8310-V positioners as each model outputs travel
Argument
xx
nn
1ZH0
Example
1MT+
AB
2ZH0
2MT-
2MD?
2DH
MV, MZ, OR, ST, AB, ZH
See Also
(ST) or Abort (AB) motion command to terminate motion.
Find Limit (MT) command is issued. Otherwise, error x35 will be generated.
limit signals. However, MT command is NOT compatible with 8410 rotary stage.
Value
1 to 2
+
-
(enable motor 1 travel limit checking and following error checking)
(find motor 1 travel limit in positive direction)
(abort / halt motion)
(enable motor 2 travel limit checking and following error checking)
(find motor 2 travel limit in negative direction)
(get move done status)
(when move done, zero the counter at limit position)
Description
Axis number
Travel limit search of desired axis in positive direction
Travel limit search desired axis in negative direction
95
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