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18
SmMx Set Speed of motor (70% power applied to motor), m= motor# (1,2,3,4), x=1 to
6000 steps/sec. in 1 step/sec. intervals. If this command is never used, the
default speed will be 2000 steps/sec.
NOTE: motor torque decreases as speed increases, and some motors have
limited torque above 2000 steps/sec. If the motor torque is below the needed
torque to move the load, the motor will stall (lose synchronism and proper
position.)
Memory usage = 3 bytes.
Example:
This example sets the speed of motor 1 to 500 steps/sec at 70% power:
S1M500<cr>
When the "S" speed command is used for setting speed, motor running torque will be
70% of the maximum output. For most applications 70% motor torque will be adequate.
For moving heavy loads the "SA" speed command (100% power) may be needed.
NOTE: Motor power will always be zero when the motor is stationary (motors are
normally un-energized at a standstill.
Advantages of the "S" speed command (70% motor power)
1. Saves energy.
2. Motors run smoother and quieter
3. Reduces mid-speed motor resonance.
4. Reduces Motor and Controller heating.
SAmMx Set Speed of motor (100% power applied to motor), m= motor# (1,2,3,4), x=1
to 6000 steps/sec. in 1 step/sec. intervals.
Example:
This example sets the speed of motor 2 to 3000 steps/sec at 100% power:
SA2M3000<cr>
How to Determine Maximum Speed: With acceleration set to 2 (default) increase speed
until motor stalls, use 75% of this speed as the maximum speed.
CAUTION: Motor and Controller surface temperatures become hot when running motors
continuously. Only use 100% ("SA" command) motor power if maximum torque is
required. For maximum efficiency when lifting heavy loads vertically, use the "SA”
command to set speed for traversing upwards, and use the "S" speed command for the
speed down.
AmMx Acceleration/deceleration, m= motor# (1,2,3,4), x=1 to 127. The default value
is 2. The higher the number used, the faster the motor will reach the set speed,
and the faster it will slow down to a stop. NOTE: motors may stall if this value is
set to high.
Memory usage = 2 bytes
Example:
This example sets the acceleration/deceleration of motor 1 to 3:
A1M3<cr>
How to Determine Maximum Acceleration: With speed set to maximum as determined
above, increase acceleration until the motor stalls, use 1/2 of stall acceleration as the
maximum
Programming Shortcut:
The motor designation in Acceleration, Speed, and Index commands is optional if the
desired motor has already been set as the current motor. The current motor is motor 1
when the Controller is first turned on. The last motor jog/slewed will be the current motor
number. The current motor will be the number used in the last Acceleration, Speed, or
Index command. Users that have only a one motor VXM (Model VXM-1) do not have to
use the motor designation in a command. For example, these commands would always
be motor 1 commands of a one motor VXM:
A2,S4000,I400,
For running a particular motor of a multi-motor VXM, only the first Command needs the
motor number. For example, all of these commands would be for motor 2:
I2M200,I-200,S2000,IA0,
PMx Select Program number x as the current program, x= 0 to 4. Each program can
hold 256 bytes of commands. The default program number is 0.
Program 3 can be interactive with user input 3, and Program 4 can be interactive
with user input 4. See the ‘setI” command in the
for more information.
Memory usage = 0 bytes. This command is immediate ( not stored )
Example:
This example selects program #1 for the current program:
PM1<cr>
PM-x Select and clear all commands from Program number x, x= 0 to 4. This
command will select program x as the current program and delete all commands
from this program.
Memory usage = 0 bytes. This command is immediate ( not stored )
Example:
This example selects program #0 and erases all commands within it:
PM-0<cr>
PM Request the number of the current program. the VXM will send a value between
0 and 4 indicating the program number selected.
Example:
PM<cr>
If the current program is 3, the VXM will send the following to the host:
3<cr>
Program Management Commands
Reference Manual on the
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