Specifications

SECTION 8 COMMAND DESCRIPTIONS

MOTION PROFILE

The Motor Commands are those commands that affect the motion of the Motor. These commands will set

the position that the motor is at, the distance it is to travel, the speed at which it will travel, and how long

current will remain in the motor after it has stopped.

BASE SPEED COMMAND (1 to 2,500,000)

This Command will determine the speed at which the Motor starts at. Step Motors can go from

rest immediately to a speed in the motors start/stop region which varies from motor to motor. This

is similar to a Ski-Lift taking skiers up to the top of a mountain. The lift is traveling at a certain

speed and the skiers attach themselves to the lift (usually by sitting down) and instantly are going

the Ski-Lifts velocity. A step motor can start from rest in a similar fashion, and this starting speed

is called the Base Speed.

Line Command Parameter 1 Parameter 2 Comments

1 X Base Speed 500

CURRENT HOLD COMMAND

This Command specifies that current in the motor can be turned OFF=0 or ON=1 during the

program execution. The example holds current off in the X-axis motor after a motion is completed.

Line Command Parameter 1 Parameter 2 Comments

X Current Hold 0

DIR- COMMAND

This command will cause the Direction Register to be 0, and will cause motion to take place in the

Counter Clock Wise Direction.

DIR+ COMMAND

This command will cause the Direction Register to be 0, and will cause motion to take place in the

Clock Wise Direction.

MAX SPEED COMMAND (1 to 2,500,000)

This Command will determine the speed at which the Motor ramps up to from the Base Speed. To

go speeds over 20,000 steps/second, the Speed Limit Command must be used. This is to protect

Half-Step Drivers that can be damaged at speeds above 40,000 steps/second.

Line Command Parameter 1 Parameter 2 Comments

1 X Max Speed

POSITION COMMAND (-8,388,607 - +8,388,608)

This Command is used to set the Position Register. When the unit is powered up, the Position

Direction, the Position Register will count up from 0 to 1000 as the move takes place. If a

subsequent move takes place, the Position Register will then count up from 1000 to 2000. This

stalls for some reason, this register will not reflect the true position of the motor. For a close loop

system, an encoder must be used. The sample below will home your system, wait for the motor to