ABV

The ABV command requests that the ZY set the absolute velocity parameter on one of the two LM628 axis controllers on a ZY, or return the current absolute velocity value.

Mnemonic:

ABsolute Velocity

Syntax:

ABV $<$n$>$[, v]

n:

Axis value (0:azimuth or 1:elevation)

v:

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

Return values:

Success:

ABV 1, n, v

Failure:

ABV 0, [n,] err_msg

n:

Axis value

v:

New or current velocity value

err_msg:

Should the command fail, this value will be an error message string, explaining the cause of failure.

Remarks:

The LM628 velocity parameter specifies the maximum velocity for the servo motors. The LM628 will not drive the servo motors any faster than this. The velocity value must equal or exceed the acceleration value. It will take effect the next time the servos are moved. For an explanation of the units used for the velocity, see the National Semiconductor data sheet for the LM628 [11].

Example:

     send: ABV 1, 2000000
  receive: ABV 1, 1, 2000000 

     send: ABV 1
  receive: ABV 1, 1, 2000000

See also:

ABA, STT