T-Series/Commands/Move At Constant Speed/A-Series Motorized Devices
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| Instruction Name | Move At Constant Speed |
|---|---|
| Applies to | A-Series and X-Series motorized devices |
| Firmware Version | 6.xx |
| Command Number | 22 |
| Command Type | Command |
| Command Data | Speed |
| Reply Data | Speed |
| Safe to retry? | Yes |
| Returns Current Position? | No |
| Persistence | n/a |
| Summary | Moves the device at a constant speed based on the value specified in the Command Data. |
This instruction specifies a direction and a speed to move, rather than a target position. When this instruction is issued the device will accelerate to the speed specified by the instruction data. The device will continue moving at this speed until a limit is reached or a pre-empting instruction is issued. Negative speeds cause retraction while positive speeds cause extension. Unlike the other movement commands, this command sends a response immediately without waiting for the move to finish.
If the device reaches minimum or maximum position (specified by Set Minimum Position (Cmd 106) and Set Maximum Position (Cmd 44)), the device stops and the new position is returned via reply-only command Limit Active (Cmd 9).
The device accelerates/decelerates at a rate specified by Set Acceleration (Cmd 43), Set Acceleration Only (Cmd 113) and Set Deceleration Only (Cmd 114).
The device may be set to return its position continually during the move using Set Move Tracking Mode (Cmd 115).
This command may pre-empt, or be pre-empted by Move to Stored Position (Cmd 18), Move Absolute (Cmd 20), Move Relative (Cmd 21), Move at Constant Speed (Cmd 22), Move Index (Cmd 78) and Stop (Cmd 23).
For a spreadsheet that can be used to calculate speed setting values for any product see https://www.zaber.com/documents/ZaberSpeedSetting.xls. Alternatively you may use the formulas below.
Actual Speed
- = Data / 1.6384 * M mm/s or deg/s
- = Data / 1.6384 microsteps/s
- = Data / 1.6384 / R steps/s
- = Data / 1.6384 / (R x S) * 60 revolutions/min Motor rpm
- = Data / 1.6384 * L / (R x S) mm/s Linear devices only
where:
- Data is the value of the command data
- R (microsteps/step) is the microstep resolution (command 37)
- S (steps/revolution) is the number of steps per motor revolution
- M (mm or deg) is the microstep size
- L (mm or deg) is the distance of linear motion per motor revolution
Refer to product specifications for the distance corresponding to a single microstep or revolution.
For example, if a motor has 200 steps per revolution (S = 200), used with default resolution (R = 64), and Data is 251658, then the motor will move at a speed of 720 revolutions per minute.
Valid data values are from (−16384×R) to (16384×R). Note that a value of zero will cause the device to decelerate to a stop and then send Limit Active (Cmd 9).