Manual

Setup Commands are used to define and initialize the motion environment. They must be sent each
time the Kangaroo is powered up if they are used. They do not respond back.
Command
Result
Example
start
This command must be sent before any other
commands to the axis. Commands sent before
a start command will be ignored or return an
error.
1,start
2,start
T,start
D,start
units
This command is used to change the input
from machine units (millivolts or encoder lines)
to a user defined unit system. Please note that
commands use whole numbers only, and
design your program to use appropriate units.
For example, for a system with four inches of
travel, thousandths of an inch is more
appropriate than inches. The first value is the
user units, then an equals sign, followed by the
second value in the machine units, followed by
a newline. The system only acts on the
numbers, the text strings are optional and for
code clarity.
1,units 4 ticks = 1 line
2, units 1 rotation = 100 lines
D, units 1000 thou = 256 lines
2, units 180 degrees = 5000 millivolts
home
This command is used on startup to move the
system to its home position. When using a
quadrature encoder with a limit switch or
crash limit tune , only incremental commands
will be accepted until the channel is homed.
Home is not meaningful in mixed mode.
1, home
2, home
Example Simplified Serial program
The following set of commands would start up the kangaroo, then command a X-Y positioner to draw a
1” by 1” box at five inches per second. This positioner has a 256 line encoder on the motor and a 4 turn
per inch lead screw.
1,start
2,start
1, units 1000 thousandths = 1024 lines
2, units 1000 thousandths = 1024 lines
1,home
2,home
Delay 5 seconds to wait for homing to finish
1, getp (verify that you are at position 0)
2, getp
1,p1000 s5000
2,p1000 s5000
1,p0 s5000
2,p0 s5000