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such as the current control variables, the I/O variables, etc, only a cursory
mention will be made of them. Otherwise they will be covered in some depth.
Motor and Drive
MUNIT [Motor Units Variable]
The MUNIT, or Motor Units variable is the conversion factor by
which the user is able to scale motor steps into familiar units of
measurement. By using the MUNIT variable the user can write
motion instructions in inches, millimeters, degrees or whatever
unit of measure applies to the user’s application. The example
given below illustrates how the MUNIT variable might be scaled
to inches for a leadscrew with a 0.25” pitch.
Acceleration, Deceleration and Velocity
The following variables effect the acceleration, deceleration and velocity of the
driven axis. All of these are effected by the MUNIT variable. The relationship
between these variables is illustrated by figure 10.2.
ACCL [Acceleration Variable]
This variable specifies the acceleration of the axis in MUNITs per second
squared.
To Read: PRINT ACCL
To Write: ACCL=75
The “MUNIT” or “motor unit”
variable is a scaling factor
that allows you to scale motor
steps to any measure of distance
such as inches, millimeters or
degrees! “User Unit” is a
generic term referring to the
unit of measure scaled to!
3.316"
169779.2
Microsteps
OR
1.8 stepping motor
being driven by a
MicroLYNX
at 256 resolution.
Leadscrew has
1/4 pitch
360 /rev 1.8 steps = 200 steps/rev
200 steps/rev X 256 microsteps/step = 51,200 microsteps/rev
1 revolution = 1/4(0.25) of motion.
To move the motor 1 would require 4 revolutions,
or 204,800 microsteps
1 = 4 Revs or 204,800 microsteps
Since 0.25 X 4 is 1.00
204,800/1.00 = 204,800
You would enter
MUNIT=204,800
This would set the scalin
factor to
inches in this example
By entering:
MOVR 3.316
The motor would move 3.136 inches
MUNIT = 204800
=
4 Revolutions
Inch
Leadscrew Motor Drive
LYNX M UNIT
SETTING
Step
Revolution
200 Steps
256 microsteps
}
}
}
}
XX
SETTING
THE MUNIT
VARIABLE
Figure 10.1: Setting the MUNIT Variable
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