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ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE
48
Function Type NV Bytes
List Program Immediate N/A
Command
Q
Mnemonic
(Name) Q (a)
Data 1
Address (0-2047)
Data 2
None
Result
Listing
Q (List Program) (Note: Use in dumb terminal, single line mode).
List program stored in non-volatile memory using the format:
Address Instruction Value 1 Value 2
The values will be displayed only if applicable to the particular instruction type. Twenty instructions are
displayed at a time. Use the <CR> key to list up to 20 more commands without pause. ESC quits and any
other key single steps the listing.
Function Type NV Bytes
Index Relative to Origin Immediate, Program 4
Command
R
Mnemonic
(Name) R (n)
Data 1
Position (±8,388,607)
Data 2
None
Result
None
R (Index Relative to Origin)
Move, with ramping, relative to the “0” origin. The target position has a range of ±8,388,607 steps from the
‘0’ origin.
The motion sequence is:
1. Wait until any previous motion is finished,
2. Read the current position then calculate the distance to the new target position,
3. Energize the motor winding,
4. Start stepping at the rate of the initial velocity (I),
5. Accelerate using a profile defined by the fixed table that approximates straight-line acceleration and a
slope set by the “K” command,
6. The acceleration continues until the slew speed as specified by the “V” command is attained,
7. Motion continues at the slew speed, until the deceleration point is reached,
8. Decelerate (determined by the second “K” value) to a stop completing the index,
9. If another index is not commanded for the settling period, power down the motor (if auto power down
is enabled).
This command may be implemented within a program. It is very useful when used in conjunction with the
Origin command. Following, is an example:
P 0 Enter program mode.
O Set origin and counter to 0.
R 1000 Move to position 1000 relative to 0.
P Exit program mode.