Axis Configuration

• show
  • Display the configuration settings for the active axis

    ok 0 axis show
        0 axis            // 0=horizontal, 1 vertical, 2 vertical driver
        0 nonBlocking     // 0=blocking
        5 accel           // 1-20 motor acceleration slope
      200 maxSpeed        // 1-250 motor maximum speed
        5 decel           // 1-20 motor deceleration slope
      400 msSettle        // msec delay after move
        0 units           // 0=degrees, 1 steps
        0 noLimits        // 0=limits active
        0 lowTravelLimit  // +/- 32,767 units
      360 highTravelLimit // +/- 32,767 units
     3200 microSteps      // 200,400,800,1600, or 3200
    23040 stepsPayload360 // Steps per payload revolution
        0 brakeType       // 0=none, 1 passive, 2 active
        0 reverse         // 1=change rotation convention
    
     // Board Settings:
        1 master          // 0=slave, 1 master
        2 currentLimit    // 0-10, 0.5A to 3.0A in 0.25A steps
    

  • Configuration for axis 1

    ok 1 axis show
        1 axis            // 0=horizontal, 1 vertical, 2 vertical driver
        0 nonBlocking     // 0=blocking
        3 accel           // 1-20 motor acceleration slope
      100 maxSpeed        // 1-250 motor maximum speed
        3 decel           // 1-20 motor deceleration slope
      500 msSettle        // msec delay after move
        0 units           // 0=degrees, 1 steps
        0 noLimits        // 0=limits active
        0 lowTravelLimit  // +/- 32,767 units
      180 highTravelLimit // +/- 32,767 units
     3200 microSteps      // 200,400,800,1600, or 3200
    12549 stepsPayload360 // Steps per payload revolution
        0 reverse         // 1=change rotation convention
    
     // Board Settings:
        1 master          // 0=slave, 1 master
        2 currentLimit    // 0-10, 0.5A to 3.0A in 0.25A steps
    

  • Configuration for axis 2

    ok 2 axis show
        2 axis            // 0=horizontal, 1 vertical, 2 vertical driver
     3200 microSteps      // 200,400,800,1600, or 3200
        2 brakeType       // 0=none, 1 passive, 2 active
    
     // Board Settings:
        0 master          // 0=slave, 1 master
        2 currentLimit    // 0-10, 0.5A to 3.0A in 0.25A steps
    

• NOTE: Changes to the axis configuration do not become non-volatile until the save command is executed.

• f nonBlocking
  • Set motion commands for the active axis to blocking or non-blocking, f is 0 or 1
  • f = 0, blocking, no command line prompt until motion commands are complete (default)
  • f = 1, non-blocking, command line is active while motion command executes
  • Use blocking to allow application code to determine motion completion
  • Non-blocking requires polling status or position to determine motion completion

• n accel
  • Set acceleration slope for the active axis. Practical range for n is 1 to 50, 1 being slowest

• n maxSpeed
  • Set the maximum speed for the active axis. Practical range for n is 10 to 500
  • Small moves (5 - 10 degrees) generally never reach maximum speed

• n decel
  • Set deceleration slope for the active axis. Practical range for n is 1 to 50, 1 being slowest

• n msSettle
  • Set the settling time for the active axis, n is in milliseconds, range 0 to 32767
  • Settling time is the delay between axis move completion and release of the command line
  • Most useful in blocking mode (nonBlocking set to 0)
  • Allows settling of mechanical oscillations in plastic drive components
  • n = 0 effectively disables the settling delay

• f units
  • Set motion command/position display units for the active axis to degrees or steps, f is 0 or 1
  • f = 0, degrees (default)
  • f = 1, steps

• f noLimits
  • Enable/disable travel limits for the active axis, f is 0 or 1
  • f = 0, travel limits are enabled (default)
  • f = 1, travel limits are disabled

    Warning:

    "Positioning" applications should not disable travel limits. f = 1 IS NOT RECOMMENDED FOR WIRED PAYLOADS

• n lowTravelLimit
  • Set the minimum allowable position for the active axis, n is +/-32767
  • n is in the units specified in units setting
  • This limit is only active if noLimits is set to 0
  • Motion commands are truncated and motion profiles are automatically adjusted to the active limit
  • This limit is typically set at or near 0 (home)

• n highTravelLimit
  • Set the maximum allowable position for the active axis, n is +/-32767
  • n is in the units specified in units setting
  • This limit is only active if noLimits is set to 0
  • Motion commands are truncated and motion profiles are automatically adjusted to the active limit
  • This limit is typically set at 360 degrees horizontal axis, 180 degrees vertical axis

• n microSteps
  • Set stepper motor microstepping for the active axis
  • Valid values for n are 200, 400, 800, 1600, and 3200 (default)
  • Motion profiles remain constant for different microstepping settings

• n stepsPayload360
  • Set the number of steps for a 360 degree revolution of the payload for the active axis, n is 0 to 32767
  • n is always in units of steps, never degrees
  • n is used to convert steps to degrees for different mechanical drive ratios and different microstepping settings

• n brakeType
  • Set the brake type for the active axis, n is 0, 1, or 2
  • n = 0, no brake
  • n = 1, passive brake, the stepper coils are shorted together
  • n = 2, active brake, holding current is passed through the stepper coils
  • Only applies to axis 0 and 2, horizontal master and vertical slave, respectively

• f reverse
  • Set the rotation convention for the active axis, f is 0 or 1
  • f = 0, do not change the rotation convention
  • f = 1, change the rotation convention
  • Rotation direction for relative moves is set by the sign of the move.
  • reverse allows the arbitrary rotation convention to be changed
  • The rotation convention can also be changed by swapping connections on one of the stepper motor coils