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Accessible Functions for a Real Axis
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|
(Original Document)
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Accessible Functions for a Real Axis
|
|
|
(Original Document)
|
|
Function
|
Code
|
Feedback
|
Parameters
|
|---|---|---|---|
|
ForcedHome
|
6039
|
None
|
None
|
|
Home
|
6034
|
None
|
Parameter 3: Direction
Parameter 4: Speed
|
|
Unhome
|
6038
|
None
|
None
|
|
Function
|
Code
|
Feedback
|
Parameters
|
|
|---|---|---|---|---|
|
MoveImmed
|
513
|
None
|
Parameter 1: Type
Parameter 3: Position
Parameter 4: Speed
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|
|
MoveImmed_G30
|
554
|
None
|
Parameter 1: Type
Parameter 2: No. of points
Parameter 3: Pathpoints
Parameter 4: Approach speed
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|
|
MoveQueue
|
520
|
None
|
Parameter 1: Type
Parameter 3: Position
Parameter 4: Speed
|
|
|
EnableRealTimeCtrlBit
|
2564
|
None
|
Parameter 1:
|
Enable (1)
Disable (0)
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Function
|
Code
|
Feedback
|
Parameters
|
|---|---|---|---|
|
DisableRollover
|
412
|
None
|
None
|
|
EnableRollover
|
411
|
None
|
None
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|
GetAccel
|
1041
|
Feedback 2: Acceleration
|
None
|
|
GetAccelMax
|
1116
|
Feedback 2: Acceleration
|
None
|
|
GetActualSpeed
|
5065
|
Feedback 1: Speed
|
None
|
|
GetDecel
|
1042
|
Feedback 2: Deceleration
|
None
|
|
GetDecelMax
|
1117
|
Feedback 2: Deceleration
|
None
|
|
GetDefaultSpeed
|
1065
|
Feedback 1: Speed
|
None
|
|
GetChangeACCDECMove
|
1172
|
Feedback 1:
1: FCt enabled: PARAM_CMD_2 acknowledged in opcodes 513 and 520.
0: FCt disabled.
|
None
|
|
GetEnableMode
|
1524
|
Feedback 1: Mode
|
None
|
|
GetEnablePositionBand
|
1538
|
Feedback 2: Position
|
None
|
|
GetInPositionBand
|
1035
|
Feedback 2: Position
|
None
|
|
GetPositionLimit
|
1505
|
Feedback 2: Position
|
Parameter 1: Direction
|
|
GetRolloverLimit
|
1539
|
Feedback 2: Position
|
Parameter 1: Direction
|
|
GetSpeedLimit
|
1066
|
Feedback 2: Speed
|
None
|
|
GetSpeedOverride
|
1513
|
Feedback 2: Percentage
|
None
|
|
GetUnrolled CommandedPosition
|
547
|
Feedback 2: Position
|
None
|
|
GetUnrolledPosition
|
546
|
Feedback 2: Position
|
None
|
|
SetAccel
|
2041
|
None
|
Parameter 3: Acceleration
|
|
SetAccelMax
|
2116
|
None
|
Parameter 3: Acceleration
|
|
SetDecel
|
2042
|
None
|
Parameter 3: Deceleration
|
|
SetDecelMax
|
2117
|
None
|
Parameter 3: Deceleration
|
|
SetChangeACCDECMove
|
2172
|
None
|
Parameter 1:
1: FCt enabled: PARAM_CMD_2 acknowledged in opcodes 513 and 520.
0: FCt disabled.
|
|
SetDefaultSpeed
|
2065
|
None
|
Parameter 1: Speed
|
|
SetEnableMode
|
2524
|
None
|
Parameter 1: Mode
|
|
SetEnablePositionBand
|
2538
|
None
|
Parameter 3: Position
|
|
SetInPositionBand
|
2035
|
None
|
Parameter 3: Position
|
|
SetPosition
|
2053
|
None
|
Parameter 3: Position
|
|
SetPositionLimit
|
2505
|
None
|
Parameter 1: Direction
Parameter 3: Position
|
|
SetRolloverLimit
|
2539
|
None
|
Parameter 1: Direction
Parameter 3: Position
|
|
SetSpeedLimit
|
2066
|
None
|
Parameter 3: Speed
|
|
SetSpeedOverride
|
2513
|
None
|
Parameter 3: Percentage
|
|
EnableDriveWarning
|
5512
|
None
|
Parameter 1 = 13
|
|
DisableDriveWarning
|
5513
|
None
|
Parameter 1 = 13
|
|
Function
|
Code
|
Feedback
|
Parameters
|
|---|---|---|---|
|
GetAxisId
|
523
|
Feedback 1: Identifier
|
None
|
|
GetCommandedPosition
|
1053
|
Feedback 2: Position
|
None
|
|
GetCombinedControl
|
1534
|
Feedback 1: Movement control bits
|
None
|
|
GetControl
|
1525
|
Feedback 1: Movement control bits
|
None
|
|
GetMotionFault
|
5510
|
Feedback 1: List of faults
|
None
|
|
GetMotionWarning
|
5511
|
Feedback 1: List of warnings
|
None
|
|
GetMoveQueueLength
|
9510
|
Return 1: Length
|
None
|
|
GetNumberInSet
|
541
|
Feedback 1: No. of axes
|
None
|
|
GetSercosAddress
|
549
|
Feedback 1: Address
|
None
|
|
Function
|
Code
|
Feedback
|
Parameters
|
|---|---|---|---|
|
GetAccelType
|
1540
|
Feedback 1: Acceleration type
|
None
|
|
GetGearRatio
|
1500
|
Feedback 2: Numerator
Feedback 3: Denominator
|
None
|
|
SetAccelType
|
2540
|
None
|
Parameter 1: Acceleration type
|
|
SetGearRatio
|
2500
|
None
|
Parameter 3: Numerator
Parameter 4: Denominator
|
|
Function
|
Code
|
Feedback
|
Parameters
|
|---|---|---|---|
|
GetIDN_S
|
1556
|
Feedback 1: SERCOS® parameter
|
Parameter 1: Identifier
|
|
GetIDN_P
|
1557
|
Feedback 1: SERCOS® parameter
|
Parameter 1: Identifier
|
|
GetIDN_US
|
1558
|
Feedback 1: SERCOS® parameter
|
Parameter 1: Identifier
|
|
GetIDN_UP
|
1559
|
Feedback 1: SERCOS® parameter
|
Parameter 1: Identifier
|
|
SetIDN_S
|
2556
|
None
|
Parameter 1: Identifier
Parameter 2: SERCOS® parameter
|
|
SetIDN_P
|
2557
|
None
|
Parameter 1: Identifier
Parameter 2: SERCOS® parameter
|
|
SetIDN_US
|
2558
|
None
|
Parameter 1: Identifier
Parameter 3: SERCOS® parameter
|
|
SetIDN_UP
|
2559
|
None
|
Parameter 1: Identifier
Parameter 3: SERCOS® parameter
|
