Directed Perception PTU-D46 Series - Step Modes; Configuring Step Mode

PTU-D46 User’s Manual (v2.14.0) COMMAND REFERENCE
page 23
Example
The following command sets the host serial port RS232/RS485 to a baud rate
of 38,400 bits/second (8 data bits per byte, no parity, no handshaking), no
delay in controller outbound byte transmission, and the power up baud rate is
the system default of 9600 baud.
@(38400,0,F) *
The following command sets the host serial port RS232/RS485 to a baud rate
of 19,200 bits/second (8 data bits per byte, no parity, no handshaking), a
30ms delay between bytes output from the pan-tilt controller, and the power
up baud rate overrides the default and is set at 19,200 baud.
@(19200,30,T) *
Related Topics
• To wire the host port serial RS232 communications : See Section 3.2
• To wire the host port serial RS485 communications : See Section 7.2
• To set the pan-tilt controller unit ID : See Section 7.3.1
4.8 Step Modes
4.8.1 Configuring Step Mode
Description
The default motion resolution of the D46 controller is half step mode (0.9
degrees per motor step). Firmware versions 2.12.8 and higher added
microstepping in quarter and eighth steps. Microstepping provides much
quieter operation and smoother motion at slow speeds. In addition, the
microstepping increases the effective resolution of the pan-tilt unit.
Firmware versions 2.13.0 and higher added autostep electronic gearing.
The controller will automatically select the correct step mode based on the
pan-tilt’s current speed, and process all units as though the unit were in eigth
step mode (0.006 degrees per motor step) while allowing the unit to move at
the higher speeds of half step (up to 50 deg/sec).
Syntax
W<axis><resolution> where
<axis> :== T | P
<resolution> :== F | H | Q | E | A
for Full, Half, Quarter, Eighth and Auto step
resolution.
Example
The following command puts the tilt axis into eighth step resolution and
recalibrates the tilt axis, which returns success (*).
WTE *
Known Issues
• Autostep mode is only supported in firmware versions v2.13.0 and higher.
This firmware slow support querying the microstep mode with the
“W<axis><delimiter>” command.
• Microstepping decreases the pull-out torque of the motor.
• For standard PTU-D46-70* units, microstepping on the pan axis is currently
limited to Quarter step mode, as Eighth/Auto step resolution would exceed
the current firmware integer representation for pan position.