- Parker ACR Motion Controllers User Guide

Parker Hannifin
Chapter 6 Command Reference 125
DRES
Drive Resolution
Type
Drive configuration
Product Rev
Syntax
<a_>DRES<i>
Aries 2.10
Units
i = Input Step Resolution
Range
200 to 10737141823
Default
4000
Response
DRES: <*>0
See Also
CMDDIR, DMPSCL
The DRES command is only used in step and direction mode (DMODE6
and 7). Input
steps will be scaled to the DRES value so DRES steps on the
input would translate to one revolution of the motor. DRES is set to ERES
internally if DMPSCL is non-zero for backward compatibility with operating
system 2.0. DMPSCL should be set to 0 (a new option in OS 2.10) to enable
DRES support.
Note: This command requires a reset to take effect. DMPSCL changes are
immediate so it is possible to enable DRES support, then enable DMPSCL,
and have both features working at once.
DRIVE
Drive Enable
Type
Drive Configuration
Product Rev
Syntax
<a_>DRIVE <b>
Aries 2.0
Units
b = enable bit
Range
1(enable) or Ø(disable)
Default
Ø
Response
DRIVE: <*>Ø
See Also
ERROR
The DRIVE command allows you to enable or disable (shut down) the drive.
If the hardware enable input is closed on power-up, the drive is automatically
enabled (generates a DRIVE1 command). To disable the drive, either issue
the DRIVEØ command or open the hardware enable interlock.
Conversely, if the hardware enable input is open on power-up, the drive is
disabled (DRIVEØ). To enable the drive, close the hardware enable input. To
verify the hardware enable input is open, query the ERROR command for E46
– Hardware Enable.
Note: Issuing a DRIVE1 command from a DRIVEØ condition will set the
position error to zero (TPER = Ø).
All of these “Fault Conditions” automatically cause a shut down (DRIVEØ), as
well as activate the “fault” output and open the dry contact relay (“RELAY
N.O.”):
• Certain axis “fault” conditions – refer to the status bits denoted with
an asterisk (*) in the ERROR description.