SLRA – StepNLoop Automatic Pulse Conversion
The SLRA command automatically sets the pulse conversion ratio for the StepNLoop operation. It is the ratio of motor pulses to encoder counts. There is a fully automated and semi-automated version of the command.
Applies to: CMD-4CR, CMD-4EX-SA
ASCII SLRA[axis]
Syntax:
Write: (fully automated)
SLRA[axis]
|
Where: [axis] specifies the axis to be set (X, Y, Z, U) Automatic test 1000 pulses, back and forth 2 times |
Write: (semi-automated)
SLRA[axis]:[distance]:[times]
|
Where: [axis] specifies the axis to be set (X, Y, Z, U) [distance] specifies the number of pulse to move the motor (1 - 10,000) [times] specifies the number of cycles the motor will move (1 - 10 ) |
Reply:
Command is accepted and executed
Write:
Returns the calculated ratio value (0.001 – 999.999)
Command cannot be processed
An error message is returned. See Error Codes
Example:
Write:
SLRAX:2000:5 * Calculates and sets the pulse conversion value for the X axis. moves 2,000 steps forward and back 5 times
SLRAY * Calculates and sets the pulse conversion value for the X axis. moves 1,000 steps forward and back 2 times
Notes:
- This test should be performed while StepNLoop is disabled.
- The motor must be enabled before sending the SLRA[axis] command.
- The fully automated test, will move the motor +1000 pulses in the forward and reverse directions 2 times for a total of 4 movements. If your system needs a different distance or number of times use the semi-automated version of the command.
- The ratio will depend on the motor type, micro-stepping, encoder resolution, and decoding multiplier. Joystick and buffer operation are invalid during StepNLoop operation.