Go Command

Character: G or g
Decimal: 71 or 103
Hexadecimal: 0x47 or 0x67
Command Value: Requested Position, in position units

The Go command will initiate a position move, a speed control move, or a new gear ratio. The user must make sure that all parameter words are valid when the Go command is issued. Normally, once the Mode, Acceleration, Deceleration, and Speed are set, only the Command Value needs to be changed.

Note: The ’r;G’ command can be given while the axis is in motion. If you do this, the RMC will ramp to the new speed at the rate specified by the Acceleration and Deceleration parameters.

Bits in the Mode word select the type of move:

Position Control (Rotational bit cleared):

This command moves the axis to the position specified in the Command Value field.

Speed Control with Position Loop (Rotational bit set):

This command requests the axis to ramp up or down to the new requested speed in the Speed field. The Command Value field indicates the direction the axis should move: 0 represents the direction of increasing counts (extend or clockwise), -1 represents the direction of decreasing counts (retract or counter-clockwise). See Speed Control for details on this mode.

The direction can be changed while the axis is moving; the axis will ramp down to a stop and then immediately ramp up to the new speed in the new direction.

Speed Control with Velocity Loop (Rotational bit set):

This command is identical to Speed Control with Position Loop except that closed loop control is performed on the speed, not the position. See Speed Control for details on this mode.

Geared Control (Gear bit set):

This command requests the axis to ramp its gear ratio up or down. The requested gear ratio is held in the Command Value and Speed fields. Please see Gearing Axes for details on using the Go command for gearing.