Section 5 — Programming
5-71
esp_set_fullstep_resolution
Set Full-Step Resolution
esp_get_fullstep_resolution Report Full-Step Resolution Setting
Synopsis:
#include “esp6000.h”
int esp_set_fullstep_resolution(float, fullstep)
int esp_get_fullstep_resolution(float, *fullstep)
Arguments:
long axis
axis number from 1-6
float fullstep
full-step resolution in user units
Library Location:
\esp6000.dll
Description:
esp_set_fullstep_resolution() provides the controller with the step motor fullstep
resolution in user units. This API function call enables the ESP6000 to properly calcu-
late the number of step pulses to output in order to achieve desired encoder-based
position.
esp_get_fullstep_resolution() reports present microstepping factor setting in ESP6000
memory.
Returns:
ESPOK, ESPERROR
Hint:
Fullstep resolution is automatically set with ESP-compatible stepper stages.
Usage Example:
#include “esp6000.h”
main()
{
long error, servotick;
if (!esp_init_system() )
{
printf(“ESP6000 Not Initialized! \r\n”);
exit(-1);
}
/* Define Axis-1 Microstep Resolution */
esp_set_microstep_factor(1, 10);
/* Full-step resolution */
esp_set_fullstep_resolution(1, 0.001);
/* Save new settings to non-volatile memory */
esp_save_parameters();
/* check error status */
esp_get_error_num(&error,&ServoTick)
;
if (error) printf(“Error %d Reported!\r\n”, error);
}
See Also:
esp_set_fullstep_resolution()
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