T-Series/Commands/Set Target Speed
From ZaberWiki
[edit] Set Target Speed - Cmd 42
Warning: This is an "include" page. As such, its contents may be included in multiple other pages. To see a list of all pages that include this page, click on "What links here" in the bottom left navbar. If you make changes to this page, be sure that your changes are appropriate to all pages on which this content will be included. You are also encouraged to review our Zaber Wiki Editing Guidelines. This header will not be included in other pages.
| Instruction Name | Set Target Speed |
|---|---|
| Firmware Version | 5.00 and up |
| Command Number | 42 |
| Command Type | Setting |
| Command Data | Speed |
| Reply Data | Speed |
| Persistence | Non-Volatile |
| Summary | Sets the speed at which the device moves when using the "Move Absolute" or "Move Relative" commands. |
When a move absolute or move relative instruction is issued, the device will accelerate at a rate determined by the acceleration setting up to a maximum speed determined by this command, “Set Target Speed". To determine the actual speed that will result from a given data value, the following formulas may be used:
Actual Speed = 9.375*Data [microsteps/sec] or
= 9.375*Data/R [steps/sec] or
= 562.5*Data/(R x S) [revolutions/min]
Where:
- "Command Data" is the absolute value of the Constant Speed Move Command Data
- R (microsteps/step) is the microstep resolution (command 37)
- S (steps/revolution) is the number of steps per revolution of the motor
For example, if S = 48, R = 64, and the Constant Speed Move instruction is issued with Data of 2922, then the device will move forward at a speed of approximately 535 revolutions per minute. For linear devices consult the section on Device Specific Information to determine the linear distance corresponding to a single step or revolution.
The maximum Data allowable is 512*R. Note that although the maximum data allowable depends on the resolution, the maximum speed possible is independent of the resolution. This can be seen by substituting Data = 512*R into the second formula above, giving a maximum speed (regardless of resolution) of 4800 steps/sec.
The target velocity may be changed on-the-fly even when the device is in the middle of a move. The device will automatically adjust the velocity, but still target the final position specified in the original move.
