User Manual

Motor Configurations
Advanced Digital Motor Controller User Manual 307
ELLA - Encoder Low Limit Action
HexCode: 4D
Description:
This parameter lets you select what kind of action should be taken when the low limit
count is reached on the encoder. The list of action is the same as in the DINA digital input
action list Embedded in the parameter is the motor channel(s) to which the action should
apply.
Syntax Serial: ^ELLA cc (aa + mm)
~ELLA [cc]
Syntax Scripting: setconfig(_ELLA, cc, aa)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Encoders
Argument 2: Action
Type: Unsigned 8-bit
Min: 0 Max: 255
Default: 0 = No action
Where:
cc = Encoder channel
aa =
0: No action
1: Safety stop
2: Emergency stop
3: Motor stop
4: Forward limit switch
5: Reverse limit switch
6: Invert direction
7: Run MicroBasic script
8: Load counter with home value
mm = mot1*16 + mot2*32 + mot3*48
EMOD - Encoder Usage
HexCode: 49
Description:
This parameter defines what use the encoder is for. The encoder can be used to set com-
mand or to provide feedback (speed or position feedback). The use of encoder as feedback
devices is the most common. Embedded in the parameter is the motor to which the en-
coder is associated.
Syntax Serial: ^EMOD cc (aa + mm)
~EMOD [cc]