Geckodrive

GM215 Configuration Commands

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CONFIGURE AXIS                                                                                                                                                   CONFIGURATION COMMAND

 

Syntax:                     a CONFIGURE: i AMPS, IDLE AT p % AFTER s SECONDS<ENTER>

Operands:               a = X, Y, Z, W

                                CONFIGURE = configure axis command

                                0.0 <= i <= 7.0

                                00 <= p < 100

                                00.0 <= s =< 25.5

Operation:               Sets the motor's operating parameters.

Type:                        The command settings are global.

Description: This command sets:

1. The selected axis motor phase current from 0 Amps to 7 Amps per phase in 100mA increments. Refer to the motor data-sheet for the correct current setting for motor being used.

2. Sets the motor's standby idle current while the motor is stopped to reduce motor heating. The motor standby current is the set percentage times the motor's set phase current. The drive also goes into recirculating mode switching while in idle to reduce motor eddy-current heating.

3. Sets the time delay before going into the idle mode after the motor stops. Motor current is restored to its full set value immediately after the motor must run again.

Example:

X CONFIGURE: 1.8 AMPS, IDLE AT 71% AFTER 2.5 SECONDS <ENTER>

                                X means the CONFIG command settings apply to the X axis motor.

                                CONFIGURE selects the CONFIG command.

                                1.8 AMPS is the motor phase current setting.

                                71 means reduce the motor phase current to 71% of the set AMPS value while the motor is stopped.

                                2.5 SECONDS is the delay time before current is reduced after the motor stops.

<ENTER> indicates the command is finished.

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ANALOG INPUTS                                                                                                                                                    CONFIGURATION COMMAND

 

Syntax:                     ANALOG INPUTS TO a, a, a, a <ENTER>

Operands:               a = axis X or Y or Z or W

Operation:               Sets inputs to analog for selected axis.

Type:                        The command settings are global.

Description:            

This command sets analog voltage inputs values for acceleration, velocity and position settings for the selected axis.

Example:                

ANALOG INPUTS TO X <ENTER>

ANALOG INPUTS TO Z, X <ENTER>

                                ANALOG INPUTS is the ANALOG INPUT command

                                Z includes the Z axis for analog inputs for Acceleration, Velocity and Position values.

                                , means another axis is to be included.

                                X includes the X axis for analog inputs for Acceleration, Velocity and Position values.

                                <ENTER> completes the command. The Y and W axis weren't included so will use digital values for Acceleration,

                                Velocity and Position in commands that require these settings.

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VECTOR AXIS                                                                                                                                                          CONFIGURATION COMMAND

 

Syntax:                     VECTOR AXIS ARE a, a, a, a <ENTER>

Operands:               a = axis X or Y or Z or W

Operation:               Associates which axis are to be combined for vector motion.

Type:                        The command settings are global.

Description:

This command selects which axis will be combined for vector motion. Vector velocity is the same regardless of the vector's direction, all associated axis motion begins and ends at the same time and the path taken will be a straight line connecting the origin and destination coordinates.

Example:

VECTOR AXIS ARE X, Y, W <ENTER>

                                VECTOR AXIS ARE is the VECTOR AXIS command

                                X means include the X axis.

                                , is the delimiter indicating another axis is to be included.

                                Y means also include the Y axis.

                                , means another axis is to be included.

                                W means also include the W axis.

                                <ENTER> indicates the command is finished.

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LIMIT CW                                                                                                                                                                   CONFIGURATION COMMAND

 

Syntax:                     a LIMIT CW n <ENTER>

Operands:               a = axis X or Y or Z or W

                                0 =< n <= 16,777,215

Operation:               Sets the axis clockwise travel limit from the home position.

Type:                        The command settings are global.

Description:

This command sets the maximum distance for any motion away from the HOME position. Its function is to prevent damage to a mechanism if the axis is inadvertently commanded to move beyond the mechanism's safe limits. This can occur if a programming error is made or an axis is jogged past this limit if the limit is exceeded. The motor is decelerated to a stop and locked. Use software reset (press E-STOP button in GUI) or hardware reset (IN1 in RUN mode) to unlock the motor.

This command is optional. If the command isn't used, the default value is 16,777,215.

Example:                

Z LIMIT CW 987654 <ENTER>

                                Z means the Z axis is selected

                                LIMIT CW means the LIMIT CW command

                                987654 sets the axis travel limit 987,654 increments of motion away from the home location.

                                <ENTER> indicates the command is complete.

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ZERO OFFSET                                                                                                                                                       CONFIGURATION COMMAND

 

Syntax:                     a ZERO OFFSET n <ENTER>

Operands:               a = axis X or Y or Z or W

                                0 <= n <= 8,388,607

Operation:               Sets the axis 'zero' position CW from the HOME switch.

Type:                        The command settings are global.

Description:

The command value is used by the HOME command to automatically move the axis CW from the HOME switch location a distance equal to the ZERO OFFSET value. If this command isn't used, the axis will be located at the HOME switch after the HOME command.

Example:

Y ZERO OFFSET 12345 <ENTER>

                                Y means the Y axis is selected

                                ZERO OFFSET means the ZERO OFFSET command

                                12345 means move 12,345 increments of motion CW from the HOME switch.

                                <ENTER> indicates the command is complete.

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ACCELERATION                                                                                                                                                     CONFIGURATION COMMAND

 

Syntax:                     a ACCELERATION n <ENTER>

Operands:               a = axis X or Y or Z or W

                                0 <= n <= 32767

Operation:               Sets the axis rate of acceleration.

Type:                        The command settings are global.

Description:

This command sets the motor's rate of acceleration for every command that causes the motor move. This setting can be changed at any time, even while the axis is in motion without affecting the axis destination. If the ANALOG INPUT command includes this axis, then this set value is ignored and the analog value is used during axis motion. If the ANALOG INPUT command later excludes this axis, then the set value for acceleration in this command will apply.

Example:

Y ACCELERATION 12345 <ENTER>

                                Y means the Y axis is selected

                                ACCELERATION means the ACCELERATION command

                                12345 sets the acceleration rate to 12,345.

                                <ENTER> indicates the command is complete.

During acceleration the acceleration value is added to the axis current velocity register and the sum is output to the axis speed generator. Once the sum equals or exceeds the axis set velocity value, the set velocity is output to the speed generator instead. The sum is updated 1,000 times a second. Time to speed in milliseconds = VELOCITY value / ACCELERATION value

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VELOCITY                                                                                                                                                                 CONFIGURATION COMMAND

 

Syntax:                     a VEL n<ENTER>    (or a VELOCITY n<ENTER>)

Operands:               a = axis X or Y or Z or W

                                VEL = VELOCITY command

                                0 <= n <= 32767

Operation:               Sets the axis velocity limit.

Type:                        The command settings are global.

Description:

The motor will accelerate at a rate set by the ACCELERATE command to a speed set by the VELOCITY command. If the VELOCITY value is changed while the motor is running, the motor will accelerate or decelerate to the new VELOCITY value. If VELOCITY or ACCELERATION is changed while the axis is in motion, the axis will still reach the programmed destination.

Example:

X VELOCITY 12345 <ENTER> (or X VEL 12345 <ENTER>)

                                X means the X axis is selected

                                VEL means the VELOCITY command

                                12345 sets the velocity limit to 12,345.

                                <ENTER> indicates the command is complete.

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POSITION ADJUST                                                                                                                                                 CONFIGURATION COMMAND

 

Syntax:                     a POSITION ADJUST +/- n <ENTER>

Operands:               a = X or Y or Z or W               

                                0 =< n <= 32,767

Operation:               Adjusts the axis position using an analog voltage.

Dependence:           None

Type:                        The command requires a hardware exit.

Description:

This command uses TRIM5 to adjust the axis position within a CW / CCW range set by the n value. The TRIM5 setting adjusts the axis position over a +/- 100% range of the n value; the adjustment is 0% when TRIM5 is at the mid-point position. 

Warning: Home (CCW limit) and CW limit will not be checked. User should use appropriate values of n when using this command.

Example:                

X POSITION ADJUST +/- 1000 <ENTER>                                                                                                                                                                                                                                                                                                               

                                X means X is the selected axis.

                                POSITION ADJUST +/- means the POSITION ADJUST command.

                                1000 means set the full-scale range to +/- 1,000 increments of motion.

                                <ENTER> indicates the command entry is complete.                                                                                                                                                                                                                                          

In this example, 2,000 is the number of steps required to turn the motor 1 full revolution. Turning TRIM5 from zero to full scale will proportionately adjust the motor from 1 revolution CCW of its commanded position to 1 revolution CW of its commanded position.

If POSITION ADJUST is used in a 2 axis system, a potentiometer-type joystick can be used to adjust the x,y position.  An example of its utility would be to index a sample underneath a microscope, use joystick to examine the sample.            

A momentary logic '1' must be applied to IN1 on the axis to exit this command.