5.3.1. Settings of kinematics (stepper motor)¶

In the Application Settings Device configuration -> Stepper motor

Settings of stepper motor kinematics window

Motor parameters - directly related to the electric motor settings¶

Revers - checking this flag associate the motor rotation direction with the position counting direction. Change the flag if positive motor rotation decreases the value on the position counter. This flag effect is similar to the motor winding reverse polarity.

Move with max speed - if this flag is checked motor ignores the preset speed and rotates at the maximum speed limit.

Limit speed with max speed - if this flag is checked the controller limits maximum speed to the value specified in the Max nominal speed field. For example, if the speed exceeds the rated value, controller will reduce output action, until the speed come back to the normal range. However, the controller remains operational and will continue the current task.

Max nominal speed - motor rated speed.

Nominal current - motor rated current. The controller will limit the current with this value.

Current as RMS - if this flag is checked engine current value is interpreted as root mean square current value. If the flag is unset, then engine current value is interpreted as maximum amplitude value.

Motion setup - movement kinematics settings¶

Working speed - movement speed.

Backlash compensation - backlash compensation. Since the stage mechanics are not ideal there is a difference between approaching a given point from the right and from the left. When the backlash compensation mode is on the stage always approaches the point from one side. The preset value determines the number of steps which the stage takes to pass a given point in order to come back to it from the same side. If the specified number is above zero the stage always approaches the point from the right. If it is below zero the stage always approaches the point from the left.

Backlash compensation speed - speed of backlash compensation. When the backlash compensation mode Backlash compensation is on the stage approaches the point from the right or from the left with a preset speed determined in the number of steps per second.

Acceleration - enables the motion in acceleration mode, the numerical value of the field is the acceleration of movement.

Deceleration - movement deceleration.

Steps per turn - determines the number of steps for one complete motor revolution. The parameter is set by user.

Microstep mode - step division mode. 9 modes are available: from a whole step to the 1/256 of a step. Description of modes is in the Supported motor types.

Feedback settings¶

An encoder can be used as feedback sensor for stepper motors. The following encoder types are available: Single-ended, Differential or Autodetect.

Encoder counts per turn - this parameter defines the number of encoder pulses per one full motor axis revolution.

Encoder reverse - interpret encoder signal as if it were reversed.