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Command Reference, Configuration Commands
7.2.14
DRn±
User Manual, Revision 16.1
Configuration commands
Define reference input. (restricted)
Range : 1 to 4
This command defines the sense of the position reference input for the current motor channel. The
system looks for the specified change in the reference input when the IN initialise position
command is executed, and when the automatic reference facilities are enabled by the RW
command. See the Reference Commands section (7.2.13, page 90) for more details on the
reference facilities and commands. This command is restricted, and is only available in privileged
mode.
Example : DR 2+
This specifies that the reference position is detected by a transition on input line no 1 for the
current channel.
DZn±(D)
Define zero marker input on/off. (restricted)
Range : 0 to 2
This command defines whether the encoder zero marker input is on or off. The sense of the sense
of this input is fixed and cannot be programmed. If the value passed with the DZ command is zero,
the fast reference input is turned off. If the value is one, the zero marker input is routed through
the Quart device. If it is two, the VIA device is used, producing a higher priority (and hence higher
response time). When the zero marker input is enabled, the system looks for a pulse on the zero
marker input or a transition on any other reference inputs when the IN initialise position command
is executed, and when the automatic reference functions are enabled by the RW command. The
optional D suffix displays the last zero marker reference position error. For more details of the
operation of the reference inputs, see the Reference Commands section (7.2.13, page 90). This
command is restricted, and is only available in privileged mode.
ECnn±
Define external counter input. (restricted)
Range : 1 to 4
This command an input line to be an external counter, whose frequency must not be greater than
100Hz. The counter has a maximum value defined by the WX parameter. The counter
subsequently wraps to zero. The counter can be read at any time by the use of the RX command.
The external counter function uses the same mechanism as the reference input function to get an
accurate count on an input signal. An EC input line may be returned to normal operation by
entering this command without the sign. This command is restricted, and is only available in
privileged mode.
Example : EC 1This specifies that the input line 1 is to be an external counter.
RX
Read external counter input.
This command reads an external counter value.
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