T-Series/Commands/Set Target Speed/T-Series Motorized Devices

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Instruction Name Set Target Speed T-Series motorized devices 5.xx 42 Setting Speed Speed Yes No Non-Volatile 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 the speed determined by this command.

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.

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 * 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

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.

Valid data values are from 0 to (512×R−1). 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.