IMPORTANT PRODUCT INFORMATION
Contents
1. Find Home cycle by momentarily turning on the Q Find Home bit the Drive Enabled Q bit must also be maintained on The axis should move towards the Home Switch at the configured Find Home velocity then seek the Encoder Marker at the configured Fnl Home velocity If necessary adjust the configured velocities and the location of the Home Switch for consistent operation The final Home Switch transition MUST occur at least 10 ms before the Encoder Marker Pulse is encountered The physical location of Important Product Information 7 GFK 1317G Home Position can be adjusted by changing the Home Offset value with the configuration software 20 Monitor servo performance and use the Q Jog Plus and Jog Minus bits to move the servo motor in each direction The Pos Loop Time Constant can be temporarily modified by placing the correct command code in the AQ table For most systems the Position Loop Time Constant value can be reduced until some servo instability is noted then increased to a value approximately 50 higher Once the correct time constant is determined the APM configuration should be updated using the Configuration Software Velocity Feedforward can also be set to a non zero value typically 80 90 for optimum servo response Note For proper servo operation the Configuration entry for Vel at 10v MUST be set to the actual servo velocity in User Units sec caused by a 10 Volt command Problems Resolved by this Upgrade Version 2 82. Follower Winder Mode Enable Use the Configuration Modes immediate command to select the Winder with the desired taper mode At the same time the Zone Position Register may be selected for return in the AI data if desired The Configuration Modes immediate command must be sent only when the Follower is not enabled Note Taper is only applied when the PLC sends a different winder zone length Winder Zone Length Use the Follower Winder Zone Length immediate command to establish the initial move zone length for the winder motion This same command may be sent later during the winding operation to alter the zone length to produce the desired taper 10 Important Product Information GFK 1317G Winder Mode Operation Steps 1 With Enable follower OFF set the winder zone length to the count value representing the width of the spool or the total distance to be traversed in each direction for the winding operation 2 Command the follower axis to the winding start point and then send the Set Winder Position AQ immediate command to synchronize the axis position to the winder zone and define the starting position within the zone The magnitude of this preset value indicates the axis position orientation within the winder zone Zone position 0 corresponds to the extreme left most negative side of the zone and Zone position zone length 1 corresponds to the extreme right side of the zone The sign of the preset value determines the initial d
3. host Motion Mate APM300 module Earlier versions of the IC641 programming software will not be able to configure all the available features of APM300 firmware version 2 80 Motion Programmer Use of APM300 firmware version 2 80 requires that version 1 50 or higher of the Motion Mate APM300 Motion Programmer be used to create edit motion programs 1 10 Resolver Feedback Types The RESOLVER feedback type which may be configured for the Motion Mate APM300 via the IC641 configuration software is NOT implemented in this release Custom Feedback Types The CUSTOM and CUSTOM2 feedback types which may be configured for the Motion Mate APM300 via the IC641 configuration software are reserved for special applications and should not be selected for normal module operation Reversal Error Compensation for the Follower Control Loop Mode Reversal error compensation can not be configured via the C641 configuration software when follower mode is selected No other mechanism is currently supported to allow this parameter to be configured for follower mode S Curve Acceleration for Superimposed Moves in Follower Control Loop Mode S Curve acceleration is not supported for superimposed moves in the follower control loop mode Any moves defined to use S curve acceleration will instead be executed with normal linear acceleration No error indicator will be issued to the user should this situation be encountered In Zone Status Bit in Follower Control
4. this is done Position Valid will automatically be set after power cycling or reconfiguring the module If the serial encoder mode is ever changed from ABSOLUTE to INCREMENTAL the absolute position reference will be erased When the serial encoder is again configured for ABSOLUTE error code 54h will be reported indicating that a valid absolute position must be established again The firmware version prior to 2 60 version 2 50 could set the Position Valid bit even though a valid absolute position had not been established This would only happen if the module was configured for ABSOLUTE encoder and then power cycled or reconfigured before performing a Find Home or Set Position followed by Update Flash Firmware Version 2 60 eliminates this problem and will only set Position Valid if an absolute position has been established after configuring the module for ABSOLUTE encoder Time Delay Needed For Drive Enable Output In Digital Mode 1 0 Cables Because the AC servos take several hundred milliseconds to activate you may see a problem with an initial command spike if a jog or move is initiated at the same time as the Drive is being enabled by contrast analog servos have historically been almost instantaneous in this respect The Drive Enable output should be enabled with some time delay before initiating a move or a jog command in the PLC logic Failure to do so can cause systems with a high acceleration rate to lurch at the start of a command
5. 0 APM firmware 2 70 did not support a certain flash memory type This support was added in firmware version 2 80 This change is transparent to users of this module Problems Resolved by Upgrade Version 2 70 Block Number Not Reported With Module In Follower Mode Regardless of mode the APM module should report the current block number of an executing motion program to an attached motion programmer While this worked as expected in Standard mode with the module configured for Follower mode the block number was always reported as 0 regardless of the current value This problem which first appeared in firmware version 2 10 has now been corrected In Power Mate J Systems Power Cycling Servo Amplifier May Cause Loss of Position In Power Mate J systems power cycling the servo amplifier independently of the PLC rack could result in a loss of position The Position Valid I bit will now be cleared whenever error code 0xC7 digital servo amplifier fault is reported When power is restored toggling the Clear Error Q bit will automatically cause the module to reestablish Actual Position and set Position Valid if the serial encoder is configured for Absolute mode Values Reported Via Select Return Data Command Not Always Correct in Follower Mode In Follower mode when configured for Winder operation data reported by the Select Return Data command was divided by 2 This problem occurred for all data selections except Command Position and Zo
6. 0 22 23 CTL Outputs If any voltages are detected the wiring must be corrected to avoid damaging the APM Important Product Information GFK 1317G 9 Repeat step 6 above except this time measure between terminal 21 Ov and the following terminal points of the Connector B terminal block e 4 analog output e 17 analog common e 8 5v encoder power e 9 10 22 23 CTL Outputs If any voltages are detected the wiring must be corrected to avoid damaging the APM 10 After the desired results all readings 0 volts are obtained in the previous four steps turn power off and reconnect the APM cables Turn on power to the PLC and field devices 11 Use the configuration software to set the desired user scaling factors and other configurable parameters Store the configuration to the PLC 12 Make sure you have a current backup copy of the PLC program you may wish to store the program to Flash memory if available Then clear the program from PLC RAM memory turn off all APM Q bits and place the PLC in RUN mode 13 If using a Home Switch or Overtravel Switches monitor the I bits for CTL03 4 Home CTLO5 7 Overtravel and CTL06 8 Overtravel and confirm that each bit corresponds to the correct switch 14 Turn on the Q Enable Drive bit and place the command code for Force D A Output 0 in the AQ table Confirm that the servo amplifier is enabled If the motor moves adjust the amplifier zero offset until t
7. 2 IC693APU302F firmware version 2 02 IC693APU302E firmware version 2 02 IC693APU302D firmware version 2 02 IC693APU302C firmware version 2 01 IC693APU302B firmware version 1 50 IC693APU302A firmware version 1 50 Firmware Upgrade Kit A firmware upgrade kit 444731242 G08 firmware version 2 80 is available to upgrade the modules listed above to firmware version 2 80 This update is an optional release There will normally be a charge for an upgrade to firmware version 2 80 Contact the PLC Hotline for more information if you have encountered one of the problems listed in Problems Resolved Note Digital servo control using the Motion Mate MCMO001 Digital Servo Interface module is only allowed with Motion Mate APM300 hardware revision R11 and later Applicable Documents Py sees eS GFK 0840D Power Mate APM for Series 90 30 PLC Standard Mode User s Manual GFK 0781C Power Mate APM for Series 90 30 PLC Follower Mode User s Manual GFK 1256 Power Mate J for Series 90 30 GFK 0664A PLC Axis Positioning Module APM Programmer s Manual Important Product Information 3 GFK 1317G Special Operational Notes CPU Firmware Use of APM300 firmware version 2 80 requires that version 3 52 or higher of the IC693 CPU firmware be installed in the CPU module IC641 Programming Software Use of APM300 firmware version 2 80 requires that version 6 01 or higher of the IC641 programming software be used to configure the
8. 3 3 Standard Mode GFK 0840 3 4 Follower Mode GFK 0781 2 7 Power Mate J GFK 1256 show Position Error Limit values to be in the range 256 60 000 This is only correct if the User Units Counts ratio is 1 1 The position error limit value actually is calculated using the formula 256 UU Cts lt PEL lt 60 000 UU Cts Documentation Does Not Correctly Specify Valid Position Loop Time Constant Range For User Units Counts ratios Other Than 1 1 Tables 3 3 Standard Mode GFK 0840 3 4 Follower Mode GFK 0781 2 7 Power Mate J GFK 1256 show Position Loop Time Constant values to be in the range 0 5 10 000 This is only correct if the User Units Counts ratio is 1 1 The position loop time constant value actually is calculated using the formula MAX 5 or 256 000 VEL Factor lt PLTC lt MIN 10 000 or 131 072 000 VEL Factor where VEL Factor VEL 10V Cts UU Documentation Does Not Correctly Specify Valid Velocity 10V Range For User Units Counts ratios Other Than 1 1 Tables 3 3 Standard Mode GFK 0840 3 4 Follower Mode GFK 0781 2 7 Power Mate J GFK 1256 show Velocity 10V 400 1 000 000 This is only correct if the User Units Counts ratio is 1 1 The velocity at 10 volts value actually is calculated using the formula 400 UU Cts lt VEL 10V lt 1 000 000 UU Cts For digital mode applications the value should be specified as 139 820 UU Cts Documentation Does Not Correct
9. Four I O cables are available for use with the Motion Mate APM300 as described below The IC693CBL311 cable is the original one which has been available for some time IC693CBL311 3 meter 15 feet I O cable frame ground provided at APM300 connector IC693CBL319 1 meter 3 feet I O cable frame ground provided at APM300 connector IC693CBL317 3 meter 15 feet I O cable external frame ground provided via 8 pigtail for improved noise immunity IC693CBL320 1 meter 3 feet I O cable external frame ground provided via 8 pigtail for improved noise immunity Important Product Information GFK 1317G Startup Procedure Follow the procedure below to start up your APM servo system 1 2 Connect the motor to the servo amplifier according to the manufacturer s instructions Connect the APM Drive Enable Relay and Velocity Command outputs to the servo amplifier Connect the position feedback device A Quad B encoder or Linear Transducer to the APM inputs Note If these connections are incorrect or there is slippage in the coupling to the Feedback Device an Out of Sync error condition can occur when motion is commanded If Overtravel Limit switches are used 24 Vdc wire them to the correct APM inputs Otherwise the overtravel limits must be disabled using configuration software If a Home Switch is used 24 Vdc wire it to the correct APM inputs the Home Switch must be wired so that it is ALWAYS ON closed when the ax
10. June 17 2002 GFK 1317G IMPORTANT PRODUCT INFORMATION Product READ THIS INFORMATION FIRST Motion Mate APM302 Module 2 Axis IC693APU302P or later Firmware Version 2 80 This document contains information not available elsewhere We recommend you read it first before using your APM module then keep it for future reference This IPI documents new firmware version 2 80 which adds support for additional flash memory vendors General Module Description The IC693APU302 two axis Motion Mate APM APM300 is a two axis motion control module that is highly integrated with the logic solving and communications functions of the IC693 PLC Two primary control loop configurations are provided standard mode and follower mode Basic capabilities of the two axis Motion Mate APM300 are described below High Performance Easy to Use 2 millisecond servo loop update Block processing time under 5 milliseconds Velocity Feed Forward and Position Error Integrator to enhance tracking accuracy High resolution of programming units e Position 8 388 608 8 388 607 User Units e Velocity 1 8 388 607 User Units second e Acceleration 1 134 217 727 User Units second second Configured with MS DOS or Windows configuration software Simple and powerful instruction set Simple one or two axis motion programs with synchronized block start Program support for a short motion program Program Zero which can be created in the IC641 configuratio
11. Loop Mode When the Follower Mode is selected the Jn Zone l bit indication operates as follows 1 When Follower is NOT enabled the Jn Zone indication works exactly like it does in Standard Mode 2 In previous firmware release 2 11 the Jn Zone indication was forced ON when the Follower was enabled and no internal move commands were generated When an internal move command was generated the Jn Zone indication would turn OFF during the move and turn ON as soon as the command was completed without waiting for the axis position to be within the configured Jn Position Zone value In this release and all releases prior to 2 10 Jn Zone is only set when Command Move is off and Position Error is less than the configured Jn Position Zone value Important Product Information GFK 1317G Position Valid Bit In Digital Absolute Mode If the module is configured for DIGITAL ABSOLUTE mode the Position Valid I1 bit may not be set at powerup If Position Valid is not set an error code 0x53h or 0x54h x axis number or 2 will also be reported Error code 53h indicates that the serial encoder has not been rotated past the zero reference point since encoder power was applied Error code 54h indicates that the serial encoder has been referenced but a valid absolute position has not yet been established for the system A valid absolute position can only be established by performing a Find Home or Set Position followed by an Update Flash command Once
12. he motor stops moving Note The Q Enable Drive bit must be maintained on in order for the Force D A Output command to function 15 Send the command code for Force D A Output 3200 1 0v Confirm that the motor moves in the desired POSITIVE direction and the Actual Velocity reported in the APM AI table is POSITIVE If the motor moves in the wrong direction consult the manufacturer s instructions for corrective action The Motor Dir parameter in the Configuration Software can also be used to swap the positive and negative axis directions APM firmware 2 10 or later If the motor moves in the POSITIVE direction but the APM reports that Actual Velocity is NEGATIVE then the encoder Channel A and Channel B inputs must be swapped 16 Record the actual motor velocity reported by the APM with a 1 0 volt velocity command Multiply this velocity by 10 and update the Vel 10v entry in the APM configuration Initially set the Pos Loop TC configuration entry to a high value typically 100 to 1000 ms 17 Turn on the Q Jog Plus bit Confirm that the servo moves in the proper direction and that the Actual Velocity reported by the APM in the AI table matches the configured jog velocity 18 With the Drive Enabled Q bit on and no servo motion commanded adjust the servo drive zero offset for zero position error APM Commanded Position APM Actual Position The Integrator should be disabled during this process 19 Check for proper operation of the
13. irection of movement More specifically when positive master commands are followed a positive position preset will cause the winder axis to first move in the positive direction and a negative position preset will cause the winder axis to start in the negative direction The reverse of this is true when the master command is negative 3 Set the Enable Follower Q bit to start the axis winder motion in response to master commands Winder Mode Operation Description Once the follower is enabled the winder axis will follow the master command to one end of the move zone and then reverse and proceed to the other end for as long as the master commands are in the same direction If the master command reverses direction the winder axis will follow in the reverse direction until the end of the zone is encountered where it will reverse direction and continue moving within the zone The Zone Position Register always indicates the relative position of the winder axis within the zone If its sign is then it is moving in the same direction as the master command and if its sign is it is moving in the opposite direction of the master command For zone tapering the PLC must send the new zone width at the correct time to produce the desired taper contour If the taper mode selection left or right side the total zone change adjustment will be applied to the designated side of the zone If the taper mode selection both sides the adjustment will be applied eq
14. is is on the negative side of home and ALWAYS OFF open when the axis is on the positive side of home Before turning on power to the PLC rack or field devices disconnect the terminal block cable s from all APM modules then repeat the following checks for all APMs With the terminal block cables disconnected from the APM verify field wiring When it is safe to do so apply power to the field devices for the next four steps These steps check for common wiring errors that could apply harmful voltages to the APM All of the readings in these four steps should be zero volts With the terminal block cables still disconnected from the APM use a voltmeter to confirm that no voltage exists between terminal 12 Ov and the following terminal points of the Connector A terminal block e 4 analog output e 17 analog common e 8 5v encoder power If any voltages are detected the wiring must be corrected to avoid damaging the APM Repeat step 6 above except this time measuring between terminal 21 Ov and the following terminal points of the Connector A terminal block e 4 analog output e 17 analog common e 8 5v encoder power If any voltages are detected the wiring must be corrected to avoid damaging the APM Repeat step 6 above except this time measuring between terminal 12 Ov and the following terminal points of the Connector B terminal block e 4 analog output e 17 analog common e 8 5v encoder power e 9 1
15. ly Specify Valid Analog Maximum Velocity Range Table 3 4 Follower Mode GFK 0781 shows Analog Maximum Velocity 0 1 000 000 The value should be 0 100 1 000 000 Also it should be stated that while the IC641 programming software default is 0 when the APM300 detects the default of zero it internally sets the value to be 32 000 Documentation Does Not Correctly Specify Valid Drive Disable Delay Range Tables 3 3 Standard Mode GFK 0840 3 4 4 Follower Mode GFK 0781 2 7 Power Mate J GFK 1256 show Drive Disable Delay 0 65 535 The upper bound of the range should be specified as 60 000 instead Documentation Does Not Correctly Specify Valid Jog Acceleration Range Table 3 3 Standard Mode GFK 0840 shows Jog Acceleration 1 8 388 607 The upper bound of the range should be 134 217 727 instead Documentation Does Not Explain Usage of CTL09 12 Control Bits in Follower Mode In the Follower Manual GFK 0781 the CTL09 12 Control bits are shown in the Q Discrete Command Table however they are not explained It should state that in follower mode these command bits may be tested during execution of Wait or Conditional Jump commands though they do not control physical outputs
16. n software for Standard mode only Non volatile flash storage for 10 programs and 40 subroutines User scaling of programming units in Standard mode only Generic programming using command parameters as operands for Acceleration Velocity Move and Dwell commands Automatic data transfer between PLC tables and APM300 without user programming Ease of I O connection with factory cables and standard terminal blocks as well as a serial port for connecting programming devices MS DOS and Windows are registered trademarks of Microsoft Corporation TEMPOSONICS is a registered trademark of MTS Systems Corporation Versatile I O Important Product Information GFK 1317G 10 volt Velocity Command analog output 12 bit plus sign analog input Home and Overtravel switch inputs Position Capture Strobe Input in Standard mode only User defined control inputs 8 and outputs 4 A Quad B Feedback up to 175 kHz per channel Linear TEMPOSONICS Feedback Digital interface to Motion Mate MCMO001 Digital Servo Interface module Product Identification IC693APU302N Hardware Identification AP3A1 44A731628 G01R11 or later Software Identification Firmware version 2 80 PROM U14 44P723399 008F2 80 Replaces IC693APU302M firmware version 2 70 IC693APU302L firmware version 2 60 IC693APU302K firmware version 2 50 IC693APU302J firmware version 2 11 IC693APU302H firmware version 2 10 IC693APU302G firmware version 2 0
17. ne Position Originally appearing in firmware version 2 60 this problem has now been corrected Problems Resolved by Previous Upgrade Version 2 60 Immediate Move Command 27h Allowed Invalid Move Distance Specifications Although it is not possible to program a move beyond 8 388 607 or 8 388 608 with a motion program it was possible to command a move greater than this amount with the immediate move command No error was produced Error code 76 is now returned for this situation 8 Important Product Information GFK 1317G Jog Minus Did Not Always Work in Follower Mode With the APM300 in follower mode and configured with Drive OK enabled if the CTL06 input was OPEN Jog minus did not work There was no reported error and no response to the Jog minus command Jog minus now works as expected Jog Minus or Plus Did Not Report Error If Overtravel Input was Off When Drive Enable was Off If the drive was not enabled and the overtravel input was off jogging in that direction would not report an error However an error was reported if the drive was enabled or if the overtravel input transitioned to off while jogging This operation has now been made consistent Could Not Jog If Move Pass Software End of Travel Limits With Drive Disabled If an axis was jogged to the positive or negative software end of travel limit the drive was then disabled and the axis was moved past the software EOT all future jogs were impossible in either direc
18. nts per second Select Return Data Command Enhancement The Select Return Data command has been enhanced to add an additional mode to support accessing the serial encoder absolute position reported for Power Mate J systems only An additional restriction is that the software End of Travel limits must be enabled by setting Pos EOT or Neg EOT less than the corresponding Hi Count Limit or Low Count Limit The added reporting is accessed as follows Selected Return Data Serial encoder absolute position Data Mode 06h Data Offset not used 1 Millisecond Strobe Update The strobe update latency has been improved from 2 milliseconds to 1 millisecond offering greater accuracy in the reported Strobe Position A 2 millisecond update rate is still used for conditional jump testing and position loop update in the 2 axis APM New Features and Functionality for Previous Upgrade 2 60 Follower Winder Introduction The follower winder feature can be likened to an electronic fishing reel With this feature selected the slave axis will follow within a specified distance zone and then at the end of the zone reverse direction and traverse the distance in reverse This cycle will repeat indefinitely The follower axis will always stay within the zone for both directions of master commands During the winding motion the PLC can send zone adjustments to accommodate winder reel taper on either or both sides of the reel Winder Mode Configuration
19. sition Valid Incorrectly Set by Power Mate J System When Absolute Position Was Incorrect When the serial encoder was set for absolute mode and power was cycled on the servo amp with the battery disconnected the Digital Servo Interface module reported to the APM300 that encoder power was lost If the serial encoder was rotated past the home marker while the servo amp power was on the APM300 would set Position Valid to true 1 even though a Set Position or Find Home cycle was not performed This has now been corrected to maintain Position Valid as false 0 until either a Set Position or Home Cycle has been performed Selecting Motor Type 0 For Digital Mode Should Not Have Checked For Error C0 In Digital mode the selection of motor type 0 indicating no motor was connected would result in the generation of error code C0 This has now been corrected so that no error code is generated Important Product Information 9 GFK 1317G New Features and Functionality for this Upgrade 2 80 Firmware version 2 80 has been updated to support additional flash memory vendors New Features and Functionality for Previous Upgrade 2 70 Set Encoder 3 Position Command Enhancement The Set Encoder 3 Position command has been enhanced to execute regardless of the encoder 3 current velocity In firmware versions prior to 2 70 the command would be ignored and a 0x52 status error reported if the encoder 3 velocity was greater than 128 cou
20. tion as long as the position was valid This operation has been changed to allow jogging in the opposite direction when past a software EOT Sometimes The Drive Would Not Enable When Jogging Off A Hardware EOT In certain situations when an axis was commanded to jog in the opposite direction after hitting a hardware End Of Travel switch the Drive Enabled status bit would not come on that is the drive was left disabled after enabling the jog bit and clearing the error bit This operation has now been corrected If A Subroutine CALL Was Aborted Error 64 Occurred On Next Program End If a subroutine was aborted error 64 would occur after running and completing the program the next time and every time thereafter This has now been corrected Scaling Was Often Impossible When Using Rotary Motion Scaling was often impossible when using rotary motion because the scaled rotary count modulus was incorrect Many user units to counts ratios for example 1 2 would not work as one count would be lost each rotation The accuracy of user units to counts scaling has now been improved The high limit cts is now calculated to be equal to the low limit cts the counts modulus uu cts uu Loss of Quadrature On Encoder 3 Did Not Clear Position Valid l Bit When a loss of quadrature was detected for encoder 3 the position valid I bit remained set in spite of the loss of encoder feedback The position valid bit is now cleared in this situation Po
21. ually to each end of the winder zone During the winding operation when the PLC sends immediate zone length changes to adjust for winder spool taper if the change in the zone length absolute value is greater than the distance from the winder axis position to the end of the zone the APM300 will wait to perform the update until the axis has moved to an acceptable position Successive zone length change commands before the previous one has been updated will result in a reported error A command for a zone length change gt 25 while the follower is enabled will result in a reported error Changing Winder Mode A B Ratio In winder mode the A B ratio cannot be changed unless the follower is disabled Any attempt to change it when the follower is enabled will result in a reported error The sign of A is determined by the sign of the winder zone position register therefore the user programmed sign of A is ignored in winder mode The Zone Position Register represents the master command zone required to produce the configured winder axis zone therefore when the A B ratio value is changed the size of the Zone Position Register is adjusted proportionately The zone move distance of the winder axis always remains equal to the configured zone length and also any preset position within the zone remains the same Important Product Information GFK 1317G Error Codes Error Hex Response Description A B change not allowed in Winder mode with Follo
22. wer Enabled Status Only Set Winder Position Immediate command out of zone Status Only Zone Length out of range or Zone Length change exceeded 25 Status Only Zone Length change not accepted previous change still in process AQ Immediate Commands Word 2 Word 1 Word 0 lt Axis 1 Command Word 5 Word 4 Word 3 lt Axis 2 Command R pyi Be DR si k Immediate Command Definition Spo NEN Set Winder Position Winder Position Active range 0 8 388 606 Word 2 Word 1 Word 0 lt Axis 1 Command Word 5 Word 4 Word 3 lt Axis 2 Command oe og pe oe a oe Immediate Command Definition Lo roo or lowe Wir Zoe Ca Winder Zone Length Active range 0 8 388 607 Word 2 Word 1 Word 0 lt Axis 1 Command Word 5 Word 4 Word 3 lt Axis 2 Command Byte Byte Byte Byte Byte Byte 5 4 3 2 1 0 Immediate Command Definition 00 oo oo 00 00 45 ConfigurationModes vs specifies data returned in AI Commanded Position location 00h normal Commanded Position Olh Program Command Position 02h Zone Position Register specifies Follower operation modes 00h Normal Olh Ramp 10h Winder BOTH sides taper 11h Winder LEFT side taper 12h Winder RIGHT side taper 12 Important Product Information GFK 1317G Restrictions and Open Problems Documentation Does Not Correctly Specify Valid Position Error Limit Range For User Units Counts ratios Other Than 1 1 Tables
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