Trinamic IDX, Manual

Page: 22 / 30

IDX Manual (V1.15 / September 26
th
, 2008) 22
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
5.8.1.9 Velocity Mode (V)
The velocity mode allows rotation of the motor without external signals. In order to rotate the motor,
please set an acceleration value different from zero. The velocity is given by the following equation,
when parameter “AV n” is used:
] s / rotations [
motor of Fullsteps resolution Microstep
149157 . 0 n
] s / rotations [ v
] s / steps [
resolution Microstep
149157 . 0 n
] s / steps [ v
] s / microsteps [ 149157 . 0 n ] s / microsteps [ v
For a 200 step motor at 64 microsteps, this gives
] s / rotations [
85815
n
] s / rotations [ v
A practical limit with most stepper motor types is about 20 rotations / second in chopper mode 0 and
5 rotations / second in chopper mode 2.
As a second parameter, value “0” or “1” is optional. Standard is 0 and sends back the Carriage Return
character at once. If it is set to “1” sending back of the Carriage Return character is delayed until the
target velocity is reached.
Example:
AV –50000 ENTER: Accelerates motor to given velocity
AV 0 1 ENTER: Accelerates motor to velocity zero (standstill) and delays echoing of carriage
return until target velocity has been reached
5.8.1.10 Store Parameters to EEPROM (W)
This command stores the actual parameters to the EEPROM to restart with the same performance after
power down.
Stored parameters are:
Current setting (set by command C)
Selected Mode (set by command M)
Output adjustment (set by command O)
RS485 parameters (set by command U)
Microstep resolution (set by command Z)
Example:
A W ENTER: All actual parameters from list above are stored to EEPROM.