T-Series/Trajectory control and behaviour/A-Series Motorized Devices
Trajectory Control and Behaviour
This section describes the behaviour of the device trajectory when a movement command is issued.
Software Position Limits
The travel range of the device is confined by the Minimum Position and Maximum Position settings. The factory settings of the devices are configured to match the physical travel range. If a customized range is desired they can be changed via Set Minimum Position (Cmd 106) and Set Maximum Position (Cmd 44).
- Minimum Position
- When Current Position is less than the Minimum Position value, the device cannot move in the negative direction (towards the motor).
- Maximum Position
- When Current Position is greater than the Maximum Position value, the device cannot move in the positive direction (away from the motor).
Movement Speed
The movement speed of the device depends on device status and various speed settings. If the device has not been initialized by the Home (Cmd 1) command or moving towards the home end of the device, movement speed will be constrained to fail-safe values.
The home status of the device can be determined by sending the Return Setting (Cmd 53) command with a data value of 103 (command number for Set Home Status (Cmd 103)).
Movement speed of the device is specified below:
- Move At Constant Speed (Cmd 22)
- The device will move at the specified speed regardless of home status.
- Knob manual movement in Velocity Mode
- The device will move at the specified speed regardless of home status.
- The speed is specified by Set Knob Velocity Profile (Cmd 112) and Set Knob Velocity Scale (Cmd 111).
- Other movement commands - When device has not been homed
- The device will move at the slower of Target Speed and Home Speed.
- Other movement commands - When device has been homed
- The device will move at the speed specified by Target Speed.
