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y 61  

VMAN Select 

Axes 

VA 68000000 

Maximum Acceleration 

VD 68000000 

Maximum Deceleration 

VS 125664 

VS for 20 Hz 

CR 1000, -90, 3600 

Ten Cycles 

VE  
BGS  

When configured for stepper motor operation, several commands are interpreted differently than from 
servo mode.  The following describes operation with stepper motors. 

In order to command stepper motor operation, the appropriate stepper mode jumpers must be installed.  
See chapter 2 for this installation. 

Stepper motor operation is specified by the command MT.  The argument for MT is as follows: 

2 

 specifies a stepper motor with active low step output pulses 

-2 

specifies a stepper motor with active high step output pulses 

2.5 

specifies a stepper motor with active low step output pulses and reversed direction 

-2.5 

specifies a stepper motor with active high step output pulse and reversed direction 

The command, KS, provides stepper motor smoothing.  The effect of the smoothing can be thought of 
as a simple Resistor-Capacitor (single pole) filter.  The filter occurs after the motion profiler and has 
the effect of smoothing out the spacing of pulses for a more smooth operation of the stepper motor.  
Use of KS is most applicable when operating in full step or half step operation.  KS will cause the step 
pulses to be delayed in accordance with the time constant specified. 

When operating with stepper motors, you will always have some amount of stepper motor smoothing, 
KS.  Since this filtering effect occurs after the profiler, the profiler may be ready for additional moves 
before all of the step pulses have gone through the filter.  It is important to consider this effect since 
steps may be lost if the controller is commanded to generate an additional move before the previous 
move has been completed.  See the discussion below, Monitoring Generated Pulses vs. Commanded 
Pulses. 

The general motion smoothing command, IT, can also be used.  The purpose of the command, IT, is to 
smooth out the motion profile and decrease 'jerk' due to acceleration.  

For proper controller operation, it is necessary to make sure that the controller has completed 
generating all step pulses before making additional moves.  This is most particularly important if you 
are moving back and forth.  For example, when operating with servo motors, the trip point AM (After 
Motion) is used to determine when the motion profiler is complete and is prepared to execute a new 
motion command.  However when operating in stepper mode, the controller may still be generating 
step pulses when the motion profiler is complete.  This is caused by the stepper motor smoothing filter, 
KS.  To understand this, consider the steps the controller executes to generate step pulses: