Delta MMC120 - Manual (Page 81)

81
Set Integral Drive to Null Drive Command
Character: i
Decimal: 105
Hexadecimal: 069
Command Value: Unused
This command sets the Integral Drive to the Null Drive value. This can be used to
unwind the integrator. In most cases this is more desirable than using the Set Integral
Drive command because this accounts for the valve being non-nulled. You can also use
the Save Integral Drive and Restore Integral Drive commands to unwind the integrator.
Relative Move Command
Character: J or j
Decimal: 74 or 106
Hexadecimal: 04A or 06A
Command Value: Change in Position, in position units.
This command changes the COMMAND POSITION by the amount specified in the
COMMAND VALUE field. For example, suppose that one position unit is equal to
0.001” and the current position is 5000 (5.0”). If a J command is given with a
COMMAND VALUE of –1000, then the axis will move to 4000 (4.0”).
Disable Drive Output Command
Character: K
Decimal: 75
Hexadecimal: 04B
Command Value: Unused
This command immediately sets the drive output on the module to the current null value.
This is equivalent to a Hard Stop. The output will remain at null in open loop control
until a new command is issued.
When this command is issued from the monitor program, it is issued to all axes
simultaneously. When issued from the controller, only the axis receiving this command
is affected.
If an event sequence is in progress when this command is issued, the event sequence will
be stopped. Compare this command with the Halt and Quit Events commands.