| Command | Command description | Controller response | Default
mode (N/A - not available) |
Service
Mode (N/A - not available) |
| xTPy | Set trapezoidal profile of speed. 1 - set trapezoidal speed profile. 0 - speed is constant. | - | Yes | Yes |
SYNTAX xTPy
Where x – controller (axis) number
PARAMETER y [number] 1 - set trapezoidal speed profile. 0 - speed is constant. Range: 0 or 1.
DESCRIPTION: This command (if parameter y =1) sets trapezoidal speed profile. Velocity increases at every step N by deltaV value, and the speed is linear N function: V(N) = deltaV*N. When the velocity reaches predefined Vmax value, it remains constant. So, the velocity accelerates linearly till Vmax. This point corresponds to Nvconstant position on Steps axis (See figure). At the position (Nlast - Nvconstant) the velocity decelerates linearly to zero. The two parameters, Vmax and Acceleration, are set by VF and AC commands. xTP0 command initiates constant speed motion with Vmax parameter.
Note: Acceleration and deceleration rates have the same values but the opposite signs. Commands VF, AC set trapezoidal profile parameters for default mode. VS, AS commands set trapezoidal profile parameters for service mode. In default mode, the stepper motor motion is initiated from computer. In service mode, the motion and positioning are initiated manually using hardware Left and Right buttons. In service mode, the buttons play manipulators role.
Current profile can be tested (read) by xGP14 command.
RETURNS none
REL. COMMANDS VF, VS, AC, AS
EXAMPLES: 5tp1 || 3TP 0 || 431 tp 1