Controlling stepper motors

The first pulse motor that is used to diss it because it is the positioning control things, we decided to incorporate features that may be needed for positioning control. This does not mean that intelligent, and autonomous driving the motor in response to movement commands from the host. The key to controlling the pulse motor, the stall is to prevent slowly varying speed during starting and stopping, and of course also be applied to control and became a highlight of this feature. The parameters required for control (such as maximum speed, acceleration, excitation system) to be able to change the command.
Controlling stepper motors - schematic

And the host controller sends commands to the RS232C connection. And with no protocol to control communication software easily. The following gives details of each command. Absolute move: M Go to location. Due to internal operations, possible values ??are 0 to 32767. Relative movement: + , - From the current position + / - step moves. Possible values ??are 0 to 65536. Homing: R Set the location counter value to return to the origin. The velocity at a constant rate 200pps, ORG to reverse feed input until it detects, and then sending in order to finish until the ORG input. Usually omit the (0). Set location counter: P Set the location counter value. 0 is equivalent to setting the value is omitted. Set velocity: V Set the moving speed. The range is from 0 to 31, 166pps ~ 1266pps unit corresponds to 33pps. Acceleration setting: A Set the acceleration at starting and stopping. The range is from 0 to 15, the higher the gradual acceleration and deceleration values. Excitation system settings: M Set the mode of excitation pulse motor. Value between 0 and 3, see below. Excitation ON / OFF: D Excitation of the motor output to the ON / OFF. The 0 OFF (default), and is 1 ON. OFF command to move if they get in the ON state. Given the disabling pulse excitation mode, this command 3. Step movement: "<", ">" Run this command immediately upon receiving the letter 1 (CR is not...

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