Gets/sets the enable [value] of the in-position signal for [axis].


Access: Read/Write

Category: Servo

Applies to: All Commander Controllers


ASCII                INP[axis]


Syntax        

               

Read

INP[axis]                

[axis] is set to X, Y, Z, U


Write

INP[axis]=[value]        

[axis]     is set to X, Y, Z, U

[value]  enables or disables the In-Position function

                                    0 = disabled

                                    1 = enabled


Reply 

Command is accepted and executed

Returns 0 or 1 (disabled or enabled)


Write           

OK


Command cannot be processed

       An error message is returned. See Error Codes


Example 

Read        

INPY        * Returns the enabled status for the Y axis in-position function


Write        

INPU=1 * Enables the in-position function for the U axis.


Notes

  • The key advantage for INP is in servo systems that are operating in a positioning mode.
    • For a stepper application there is no need to use the INP input.  
    • For servo, if the application is a scanning application where position is not critical, then there is no need for INP.  


  • What is the INP input and how does it work?

Looking at the picture to the right, notice the difference between the stepper and servo motion profiles.  In a servo system there is a lag between where the commanded position is and where the motor actually is. 

When you make a motion, without the INP input on (INP[axis]=0) it will show the axis is finished moving as soon as the command pulses are finished being sent, and the next command can be accepted by the controller.

When you make a motion, with the INP input on (INP[axis]=1) it will show the axis is finished moving after the command pulses are finished being sent, and then the INP input is triggered active. (MST [axis] bit 11).


See also

Motor Setup

ERC, ERCD, ERCP, POL, SDC, SDE, EXST, IERR


Commander Manual

Digital Servo