SMAC
LAC-26 Technical Reference Manual
4/29/2013 21
Command:
aSVn -- Set Maximum Velocity --
Argument:
0 <= n < 1,073,741,823
Default:
0
This command sets the desired velocity (in quadrature counts per servo loop interval) for servo
axis 'a'. The 32 bit argument to this command consists of a 16 bit integer part and a 16 bit fractional part.
Example:
Encoder: 500 lines, 2000 Counts/Rev
Desired Velocity: 40 Rev/Sec
Servo Loop Interval: 1,000 Hz
5242880 = ((40 Rev/Sec * 2000 Counts/Rev) / 1000 Hz) * 65536
To achieve a velocity of 40 Rev/Sec, the command SV5242880 would be issued. A simpler way
to calculate the velocity would be to determine a constant for your application by which to calculate
desired velocity.
131072 = K = ((1 Rev/Sec * 2000 Counts/Rev) / 1000 Hz) * 65536
5242880 = 40 Rev/Sec * K
Related Commands: SA, SS
4.2 Reporting Commands
The reporting commands output data relevant to the operating status of the LAC-26. Numerical
output will be in the mathematical base determined by the Decimal Mode (DM) / Hexadecimal Mode (HM)
commands and output will be followed by a carriage return and linefeed.
Command:
TAn -- Tell Analog to Digital Channel 'n' --
Argument:
0 <= n <= 9
This command will cause a conversion on A/D channel 'n' and will display the result.
Related Commands: GA
Command:
aTB
-- Tell Breakpoint --
Default:
"None"
This command reports the last programmed breakpoint value specified by the Interrupt on
Position Absolute (IP) or the Interrupt on Position Relative (IR) commands for servo axis 'a'. If no
breakpoint value has yet been specified then the word "NONE is returned.
Related Commands: IP, IR
