T-Series/Commands/Set Microstep Resolution/General
| Instruction Name | Set Microstep Resolution |
|---|---|
| Applies to | All motorized devices |
| Firmware Version | 5.00 and up |
| Command Number | 37 |
| Command Type | Setting |
| Command Data | Microsteps |
| Reply Data | Microsteps |
| Safe to retry? | Yes |
| Returns Current Position? | No |
| Persistence | Non-Volatile |
| Summary | Changes the number of microsteps per step. |
This command sets the microstep resolution of a device.
This setting is stored in non-volatile memory and will persist after power-down or reset. Use Restore Settings (Cmd 36) to restore all non-volatile settings to factory default.
The valid values and behaviour of this command depends on the device firmware version:
- T-Series devices - Firmware 5.xx
The default on most devices is 64. Available microstep resolutions are:
- 1, 2, 4, 8, 16, 32, 64, 128
All position data sent to or received from T-Series products is in units of microsteps. Note that when you change the microstep resolution, other position related settings are scaled automatically from current values to adjust for the new microstep size. The table below gives an example showing how other settings are affected when the microstep resolution is changed from 128 to 64:
| Setting | Before | After |
| Target Speed * | 2922 | 1461 |
| Maximum Travel Range * | 280000 | 140000 |
| Current Position | 10501 ** | 5250 ** |
| Maximum Relative Move * | 20000 | 10000 |
| Home Offset * | 1000 | 500 |
| Acceleration * | 100 | 50 |
* The settings for these commands are saved in non-volatile memory.
** Note that if a number is divided by two, it is rounded down to the nearest whole number. The only exception to this is if acceleration would become 0 (because 0 for acceleration indicates infinite acceleration). If acceleration would become 0, it will instead be set to 1 which is the lowest acceleration possible.
- A-Series and X-Series devices - Firmware 6.xx
The default value on most devices is 64. Valid range of microstep resolution is 1 to 256 for version 6.06 and above.
For firmware version 6.01 to 6.05, available microstep resolutions are:
- 1, 2, 4, 8, 16, 32, 64, 128, 256
- 3, 6, 12, 24, 48, 96, 192
- 5, 10, 20, 40, 80, 160
- 9, 18, 36, 72, 144
- 15, 30, 60, 120, 240
- 25, 50, 100, 200
- 27, 54, 108, 216
- 45, 90, 180
All position related settings are in units of microsteps. When you change the microstep resolution, microstep related settings are automatically restored to their default values and then adjusted to match the scale of the new resolution.
If you have previously changed any settings, you will need to reconfigure them after setting a new microstep resolution. The device should be homed after assigning a new microstep resolution.
The following example shows affected settings when resolution is changed from 64 to 32:
| Setting | Default | Before | After |
| Microstep Resolution * | 64 | 64 | 32 |
| Current Position | n/a | 10501 ** | 5250 ** |
| Target Speed * | 153600 | ignored | 76800 |
| Knob Velocity Scale * | 153600 | ignored | 76800 |
| Home Speed * | 50000 | ignored | 25000 |
| Maximum Position * | 280000 | ignored | 140000 |
| Minimum Position * | 0 | ignored | 0 |
| Home Offset * | 0 | ignored | 0 |
| Acceleration * | 205 ** | ignored | 102 ** |
| Deceleration * | 205 ** | ignored | 102 ** |
* The settings for these commands are saved in non-volatile memory.
** Note that if a number is divided by two, it is rounded down to the nearest whole number.
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