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ZABER TECHNOLOGIES INC.
7.1. Velocity Mode
Turn the knob clockwise to move the device in the positive direction (extend) or counter-clockwise
for negative direction (retract). Each detent of the knob increases the speed of the carriage.
There are 16 speeds in each direction. The velocity profile and maximum speed can be configured
via the knob.speedprofile (T:112) and knob.maxspeed (T:111) settings. The device stops and
resets the knob upon arriving at the end of travel.
7.2. Displacement Mode
Turn the knob clockwise to move the device in the positive direction (extend), counter-clockwise
for negative direction (retract). Each detent of the knob moves the device a fixed number of
microsteps, specified by the knob.distance (T:110) setting. If knob.distance (T:110) is set to 0,
each detent of the knob will move to the next index position, similar to move index (T:78)
movements. The device moves at the speed specified by the maxspeed (T:42) setting, or the
slower of maxspeed (T:42) and limit.approach.maxspeed (T:41) if the device has not been
homed. If there are fewer than knob.distance (T:110) microsteps to the end of travel and another
move is requested, the device will move to the end of travel and then stop.
7.3. Summary of knob functionality
• Turning the knob: Moves the device in the direction of knob turn.
• Pressing the knob: Decelerates and stops the device (identical to a stop (T:23)
command). Instantly stops the device, if the device is already decelerating.
• Pressing and holding the knob for 1 sec: Toggles between Velocity Mode and
Displacement Mode.
8. Trajectory Control and Behaviour
This section describes the behaviour of the device trajectory when a movement command is
issued.
