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Trajectory Control And Behaviour - Zaber X-VSR Series User Manual

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Table Of Contents

Table of Contents

movement modes available: Velocity and Displacement. Switch between these modes by holding

down the knob for 1 second or by configuring the

On power-up, many devices will only travel towards the motor from their start-up positions until

the home position is reached. Once the device has been homed, the full range of travel becomes

available.

Velocity Mode

Turn the knob clockwise to move the device in the positive direction (extend) or counter-clockwise

for negative direction (retract). Each detent of the knob increases the speed of the carriage.

There are 16 speeds in each direction. The velocity profile and maximum speed can be

configured via the

knob.speedprofile

stops and resets the knob upon arriving at the end of travel.

Displacement Mode

Turn the knob clockwise to move the device in the positive direction (extend), counter-clockwise

for negative direction (retract). Each detent of the knob moves the device a fixed number of

microsteps, specified by the

each detent of the knob will move to the next index position, similar to

movements. The device moves at the speed specified by the

slower of

maxspeed

homed. If there are fewer than

move is requested, the device will move to the end of travel and then stop.

Summary of knob functionality

Turning the knob:

Moves the device in the direction of knob turn.

Pressing the knob:

Decelerates and stops the device (identical to a

Instantly stops the device, if the device is already decelerating.

Warning: Stopping instantly may result in damage to the product and reduced lifespan. Use

sparingly if the axis is under heavy load.

Pressing and holding the knob for 1 second:

Toggles between Velocity Mode and Displacement Mode.