Instruction Manual
N 143
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4.3.5. Read / write MIN and MAX limits „g“ (67h)
This command reads or writes the MIN and MAX limits within the range from -999.99 to 9999.99. Transmission
is without decimal point.
Example 1: Read limit positions (MIN = 15.00; MAX = 850.25)
SOH Adr Cmd EOT CRC
Transmission
01h 20h 67h 04h 42h
SOH Adr Cmd MIN limit position = 0015.00 MAX limit position = 0850.25 EOT CRC
Response
01h 20h 67h
30h 30h 31h 35h 30h 30h 30h 38h 35h 30h 32h 35h
04h 1Fh
Example 2: Write limit positions (MIN = -33.22; MAX = 1234.56)
SOH Adr Cmd MIN limit position = -033.22 MAX limit position = 1234.56 EOT CRC
Transmission
01h 20h 67h
2Dh 30h 33h 33h 32h 32h 31h 32h 33h 34h 35h 36h
04h 92h
Response SOH Adr Cmd MIN limit position = -033.22 MAX limit position = 1234.56 EOT CRC
01h 20h 67h
2Dh 30h 33h 33h 32h 32h 31h 32h 33h 34h 35h 36h
04h 92h
4.3.6. Read / write motor speed switching points „h“ (68h)
This command reads or writes the motor speed switching points. Prior to reaching the target the motor speed
can be slowed down to two optional speeds (slow and crawling) for positioning with pinpoint accuracy. The mo-
tor switchoff point can be equally set at an earlier stage prior to attaining the target. The following 2 parameters
are available:
Point of crawling speed: switching point to slow down from slow to crawling speed.
Point of switchoff: the SPA will stop the motor here.
The individual switching points are given in relation to the target.
Example 1: Read parameter (crawling speed = 0.70; point for switchoff = 0.00)
SOH Adr Cmd EOT CRC
Transmission
01h 20h 68h 04h 5Ch
SOH Adr Cmd reserved crawling speed =0.70 switchoff =0.00 EOT CRC
Response
01h 20h 68h
30h 32h 30h 30h 30h 30h 37h 30h 30h 30h 30h 30h
04h 72h
Example 2: Write parameter (slow speed = 1.25; crawling speed = 0.50; point for switchoff = 0.01)
SOH Adr Cmd reserved crawling speed =0,50 switchoff =0.01 EOT CRC
Transmission
01h 20h 68h
30h 31h 32h 35h 30h 30h 35h 30h 30h 30h 30h 31h
04h EAh
SOH Adr Cmd reserved crawling speed =0,50 switchoff =0.01 EOT CRC
Response
01h 20h 68h
30h 31h 32h 35h 30h 30h 35h 30h 30h 30h 30h 31h
04h EAh