© Prior Scientific Instruments Ltd Version 1.12 June 2017 Page 89
Appendix F – Fourth Axis Commands
Fourth axis commands can be delivered the same as the others. Fourth axis commands
are now less widely used and are mostly for OEM customers.
Set Maximum Speed for 4
th
axis (A axis)
Set Acceleration for 4
th
axis.
Set S-Curve for 4
th
axis.
Sets the step size. User Units are multiplied by this number to
convert to microsteps.
Returns position (in User Units)
Set current position to zero.
Goes to absolute position (User Units)
Moves Clockwise by distance d (User Units) Note that device
should be Rotary NOT Linear.
Moves Clockwise by distance d (User Units) Note that device
should be Rotary NOT Linear.
Toggles Y axis of joystick between controlling Y axis and 4
th
axis. An error is returned if the Y axis is moving. The controller
reverts to Y axis control after a power cycle.
Sets the axis moving at velocity v.
R is typed and defines fourth axis to be Rotary. a defines the
microstepping resolution (64,250 or 256).
b is number of microsteps per complete revolution of the
wheel, nosepiece or turntable.
c is number of positions per rev (eg filter wheel or nosepiece)
d is the offset distance (in microsteps) of limit switch/home
sensor from position 1.
eg FOURTH,R250,2516789,10,35467
As above only used when 4th axis is operating a linear device
(identified by typing L
a is microstep resolution as before.
b is linear distance (in microsteps) between first and last
positions.
c is (number of positions-1) ie number of movements between
first and last position eg c=3 is 4 positions, 3 movements.
d is as above. A device is Rotary if it has unlimited rotary travel
(no limits). Position will default to 0.1 degree user units and be
reset after exceeding 360 degrees
WARNING A nosepiece is considered linear is it has hardware
limit switches
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