Software for the synchronization of axes - Kollmorgen

SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10.3.7 Instruction ASKACTInstruction code : 59 (hexa : 3B).Data bytes :Answer byte :Tests :NoneRequired value (msb).None.This instruction allows the current position (PHIC/B) (in LU's) to be captured throughthe serial interface board. The ST1 transmits the most significant byte. The followingthree bytes are memorized and can be written into the command by means of threesuccessive "ASKNXT" instructions.10.3.8 Instruction ASKABSInstruction code : 66 (hexa : 42).Data bytes :Answer byte :Tests :NoneRequired value (msb).None.This instruction allows the absolute position (PABSC/B) (in LU's) to be capturedthrough the serial interface board. The ST1 transmits the most significant byte. Thefollowing three bytes are memorized and can be written into the command by meansof three successive "ASKNXT" instructions.10.3.9 Instruction ASKTORInstruction code : 59 (hexa : 3B).Data bytes :Answer byte :Tests :None.Value requested (msb).None.This instruction allows to obtain through the serial link the torque set value for themotor respectively the variable COUCOU. The value 128 (hexa : 80) corresponds to 1Nm.The ST1 digital motion controller will respond with the most significant byte. The leastsignificant byte is memorized and can be read by instruction ASKNXT.96