All motion functions are provided by the Commander 2CR controller. See the Commander Theory of Operation for full descriptions.


Parameter

Specification

Limited by

Axes

2: X and Y, each with an integrated driver


Step rate

up to 400 kpps per axis (microsteps)

driver step-clock input (400 kHz maximum)

Microstep resolution

1/2, 1/4, 1/8, 1/16, 1/32, 1/64, 1/128

driver; see Section 7.2

Encoder input frequency

4.9 MHz line frequency (19.7 M counts/s at ×4)†; 1.6 MHz with the input noise filter enabled

motion IC input timing (Section 5)

Motion profiles

trapezoidal or S-curve


Interpolation

linear, X and Y


Positioning

absolute or incremental; high-speed correction for short moves


On-the-fly changes

speed and target position


Homing

13 built-in routines, high and low speed


Position latch

one latch input per axis (LatchX, LatchY)

latch-input response, Section 6.7

Control functions

Pulse-train control. The controller generates the trajectory and sends step and direction pulses to the integrated drivers. It does not close a servo loop.


StepNLoop. For applications with an encoder, StepNLoop compares the commanded position with the encoder count, corrects the position at the end of a move, and reports a stall if the error exceeds a set limit. The step/encoder ratio, correction tolerance, maximum error and number of correction attempts are configurable. See StepNLoop Closed Loop Control operation in the Commander Theory of Operation.


Standalone programs. Programs written in A-SCRIPT, a BASIC-like language, are compiled and downloaded with the utility software and run on the controller without a host. See Standalone Program development in the Commander Theory of Operation and the support site for the A-SCRIPT reference.


Driver functions. Each driver uses PWM constant-current control with Advanced Dynamic Mixed Decay (ADMD) and Active Gain Control (AGC) anti-stall. It includes thermal-shutdown, over-current and open-load detection, which protect the driver locally.