Trajectory Control and Behaviour
This section describes the behaviour of the device trajectory when a movement command is issued.
Software Position Limits
The travel range of the device is limited by the Minimum Position and Maximum Position settings. The
factory settings for the devices are configured to match the physical travel range. If a customized range is
desired, it can be changed by configuring the limit.min (T:106) and limit.max (T:44) settings to appropriate
values.
Minimum Position
When the Current Position is less than the Minimum Position value, the device cannot move in the
negative direction (towards the motor).
Maximum Position
When the Current Position is greater than the Maximum Position value, the device cannot move in the
positive direction (away from the motor).
Movement Speed
The movement speed of the device depends on device status and various speed settings. If the device has not
been initialized by the home (T:1) command or by moving towards the home end of the device, movement
speed will be constrained to fail-safe values. The home status of the device can be determined by reading the
limit.sensor.triggered (T:53) setting (the binary command additionally requires a value of 103).
Movement speed of the device is specified below:
move vel (T:22)
The device will move at the specified speed regardless of home status.
Knob movement in Velocity Mode
The device will move at the specified speed regardless of home status.
The speed is specified by the knob.speedprofile (T:112) and knob.maxspeed (T:111) settings.
Other movement commands - when the device has not been homed
The device will move at the slower of the maxspeed (T:42) and limit.approach.maxspeed (T:41)
settings.
Other movement commands - when the device has been homed
The device will move at the speed specified by the maxspeed (T:42) setting.
Trajectory Control and Behaviour
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