ABA

The ABA command sends a request to the ZY to set the absolute acceleration parameter on one of the two LM628 axis controllers.

Mnemonic:

ABsolute Acceleration

Syntax:

ABA $<$n$>$[, a]

n:

Axis value (0: azimuth, or 1: elevation)

a:

Acceleration value 0 to $(2^{30}) - 1$. If a is omitted, current value is returned.

Return values:

Success:

ABA 1, n, a

Failure:

ABA 0, [n,] err_msg

n:

Axis value.

a:

Current or newly loaded acceleration value

err_msg:

An error message string, explaining the cause of failure.

Remarks:

The acceleration value must not exceed the velocity value. New acceleration values will take effect the next time the servos are moved. For an explanation of the units used for the acceleration, see the National Semiconductor data sheet for the LM628 [11].

Example:

     send: ABA 1, 20000
  receive: ABA 1, 1, 2000

     send: ABA 0
  receive: ABA 1, 0, 1000

See also:

ABV, STT