Trio Motion Coordinator Euro 205, Technical Reference Manual

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Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-167
Axis Parameters
MERGE
Type:
Axis Parameter
Syntax:
MERGE=ON / MERGE=OFF
Description: This is a software switch which can be used to enable or disable the merging of con-
secutive moves. With merging enabled, if the next move is already in the buffer the
axis will not ramp down to zero speed but load up the following move allowing them
to be seamlessly merged. Note that it is up to the programmer to ensure that the
merging is sensible. For example merging a forward move with a reverse move will
cause an attempted instantaneous change of direction.
MERGE
will only function if:
1) The next move is loaded
2) Axis group does not change on multi-axis moves
3) Velocity profiled moves
(MOVE, MOVEABS, MOVECIRC, MHELICAL, REVERSE,
FORWARD
) cannot be merged with linked moves
(CONNECT,MOVELINK,CAMBOX
)
Note: When merging multi-axis moves only the base axis
MERGE
flag needs to be set.
If the moves are short a high deceleration rate must be set to avoid the controller
ramping the speed down in anticipation of the end of the buffered move
Example:
MERGE=OFF' Decelerate at the end of each move
MERGE=ON' Moves will be merged if possible
MICROSTEP
Type: Axis Parameter
Description:
Sets microstepping mode when using a stepper daughter board, MC202 or Euro205.
On these controllers the stepper pulse circuit contains a circuit which places the
step pulses more evenly in time by dividing the pulse rate by 2 or 16:
MICROSTEP=OFF (DEFAULT)
62.5 kHz Maximum
MICROSTEP=ON
500 kHz Maximum