Applied-motion RS-232 Manual de usuario descargar pdf (Pagina 179)

179

920-0002 Rev. I

2/2013

Host Command Reference

RL - Register Load - immediate

Compatibility: All drives

Affects: All data registers

See also: RX, RI, RD, RM commands

Sets a data register to the given immediate data value. The data value is checked and stored as a Long word.

When setting a Short-word register with the given Long-word data value only the lower word of the Long value is

used.

Command Details:

Structure RL(Paramter #1){Parameter #2}

Type IMMEDIATE

Usage READ/WRITE

Non-Volatile NO

Parameter Details:

Parameter #1 Data register assignment

- units character

- range All Read/Write and User-Deﬁned data registers; Read-

Only data registers can be read back when Parameter #2

is not included

Parameter #2 Data register value

- units integer

- range +/- 2147483647 (long data registers)

+/- 32767 (short data registers)

Examples:

Command Drive sends Notes

RLA100 - Set acceleration register to 1000 rpm/s

RLA RLA=100 Return acceleration register value

When PR command Bit 5 is set

RL017100 - Set Acceleration register to 1000 rpm/s

RL017 RLA=100 Return acceleration register value

NOTE: When setting a register no pre-processing of the data value is performed. Data is set to the internal raw

value. For example, the internal raw acceleration value is in tens of rpm/s. See the “Data Register” section at

the beginning of this manual for more details on data register assignments and units.

Units Example:

AC10 means 10 rps/s

RLA10 means 10 * 10 rpm/s = 1.667 rps/s

Multiply the desired rps/s value times 6 to convert to the “raw” acceleration value

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Applied-motion RS-232 Manual de usuario Pagina 179