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Command

Description

Rvvv

The Ramp command allows the user to define the length of the acceleration and deceleration

ramps that are always identical.

The command is followed by an argument whose value ranges from 1 to 999 and it determines the

number of steps necessary to pass from the Start-Stop speed to Slew speed. The instruction:

R50

↓

specifies an acceleration or deceleration ramp 50 steps long. When the number of steps to be

executed is lower than the length of the two ramps (acceleration and deceleration), the ramping is

reversed before the maximum speed is reached to guarantee the correctness of the final position.

More than one ramp length can be used during the program execution just by introducing an R

command in the proper sequence place.

R25

↓

3000

↓

•

•

R85

↓

–800

↓

•

This program executes a 25 steps ramp length for the movements until the R85 command is

encountered; from that moment all the movements are executed with a 85 steps ramp length.

This feature allows the user to optimize the motion system to adapt for different friction and load

conditions. The Ramp command is of the delayed execution type and it occupies 4 memory

locations.

Svvv

The Start-Stop command allows the user to choose the step rate at which the motion is started.

The command is always followed by an argument whose value ranges between 1 and 1000 and it

corresponds to a Start-Stop step rate of 10 to 10,000 steps/second (a by 10 multiplier is used).

The range normally used is from 1 to 50 corresponding to a 10 to 500 steps/second rate.

The command:

S30

↓

indicates a 300 step/sec or 300Hz Start-Stop frequency.

A Start-Stop command must initiate any program to be executed in stand alone environment.

More than one Start-Stop rate can be used during the program execution just by introducing a new

Start-Stop command when needed, as shown in the following program sequence:

S20

↓

T200

↓

•

•

S35

↓

•

T300

↓

•

The Start-Stop command is of the delayed execution type and it occupies 4 memory locations.

Tvvv

The Top-speed command allows the user to choose the motion system Slew speed.

The command is always followed by an argument whose value ranges between 1 and 1000 that

correspond to a Top-speed step rate of 10 to 10000 steps/second (a by 10 multiplier is used).

The range normally used is from 30 to 500, corresponding to a 300 to 5000 steps/second rate.

The command:

T300

indicates a 3000 steps/sec or 3kHz rate (equivalent to 900 turns/minute for a motor with 200

steps/turn).

More than one Top-speed rate can be used during the program execution just by introducing a new

Top-speed command in the proper sequence place as per the example reported in the Start-stop

speed command description.

The Top-speed command is of the delayed execution type and it occupies 4 memory locations.

GS-C200 / GS-C200S