On power-up, many devices will only travel towards the home location from their start-up positions until the home
position is reached. Once the device has been homed, the full range of travel becomes available.
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
and
knob.maxspeed
settings. The device stops and resets the knob upon arriving at the end
of travel.
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 move increments, specified by
the
knob.distance
setting. If
knob.distance
is set to 0, each detent of the knob will move to the next index position,
similar to
move index
movements. The device moves at the speed specified by the
maxspeed
setting, or the slower
of
maxspeed
and
limit.approach.maxspeed
if the device has not been homed. If there are fewer
than
knob.distance
move increments to the end of travel and another move is requested, the device will move to the
end of travel and then stop.
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
command).
Instantly stops the axis, if the axis is already decelerating.
Warning:
Stopping instantly may result in damage to the product and reduced lifespan. Use sparingly if the
axis is under heavy load.
Pressing and holding the knob for 1 second:
Toggles between Velocity Mode and Displacement Mode.
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. Setting
a
peripheral.id
will configure these settings to match the physical travel range. If a customized range is desired, it
can be changed by configuring the
limit.min
and
limit.max
settings to appropriate values. For the Current Position,
query
pos
.
Minimum Position
When the Current Position is less than the Minimum Position value, the device cannot move in the negative
direction.
Maximum Position
When the Current Position is greater than the Maximum Position value, the device cannot move in the
positive direction.
Movement Speed