T-Series/Commands/Set Home Speed/General
| Instruction Name | Set Home Speed |
|---|---|
| Applies to | All motorized devices |
| Firmware Version | 5.20 and up |
| Command Number | 41 |
| Command Type | Setting |
| Command Data | Speed |
| Reply Data | Speed |
| Safe to retry? | Yes |
| Returns Current Position? | No |
| Persistence | Non-Volatile |
| Summary | Sets the speed at which the device moves when using the "Home" command. |
When a home instruction is issued, the device will accelerate at a rate determined by the acceleration setting up to the speed determined by this command. The home speed can be set independently of target speed (command 42) so that for stages that move very fast, issuing the home command would use a slower home speed and prevent the stage from crashing into the home position.
For a spreadsheet that can be used to calculate speed setting values for any product see http://www.zaber.com/documents/ZaberSpeedSetting.xls. Alternatively you may use the formulas below.
The conversion between device speed and command data value depends on the device firmware version:
- T-Series devices - Firmware 5.xx
Actual Speed
- = Data * 9.375 * M mm/s or deg/s
- = Data * 9.375 microsteps/s
- = Data * 9.375 / R steps/s
- = Data * 9.375 / (R x S) * 60 revolutions/min Motor rpm
- = Data * 9.375 * 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
Maximum data value is 512*R-1. Note that the maximum speed possible is independent of the resolution. In Firmware 5.21 and 5.22, a value of 0 is not allowed. In all other versions, target speed of 0 will cause Move Absolute/Relative and Move to Stored Position commands to return an error.
Refer to product specifications for the distance corresponding to a single microstep or revolution.
For example, if a motor has 48 steps per revolution (S = 48), used with default resolution (R = 64), and Data is 2922, then the motor will move at a speed of approximately 535 revolutions per minute.
- A-Series devices - Firmware 6.xx
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
Valid data values are from 1 to (16384*R). Note that the maximum speed possible is independent of the resolution.
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 153600, then the motor will move at a speed of 720 revolutions per minute.
