USA57 Revision
1.2
100
Appendix H
On-the-fly Parameter Change
The Accuriss firmware version 6.9981+ allows on-the-fly position, velocity, and acceleration
changes. This allows virtually any trajectory to be generated.
Once moving, commands can be issued ONE AT A TIME without the “
R
.”
Example:
A
/
1A10000000R<CR>
command will start the move.
A /1V10000<CR>
command will change the velocity while moving.
A /1A0<CR>
command will make the drive automatically decelerate and then head back
to the zero position.
For example: a “
P200”
command, if issued while moving, will cause the motor to go 200 steps
from the current position (not the original final target).
The
following commands can be changed on-the-fly:
A: (Absolute position)
P: (Index motion is positive direction)
D: (Index motion is negative direction),
L: (Acceleration rate)
and,
V:
(Position mode maximum velocity