Motion MMI-8S installation manual Yes, ADW0D

4. Memory Commands.

F7	? y where is memory byte pointer; y=00000 after reset.
y 0<	sets pointer to byte location 0; if required.
? m 21<	displays 21 "command lines" of memory (F8 and type 21<).
CLEAR<	fill the memory with 0's and carriage returns; STOP commands.
YES<	yes; wait till 0 0 0 0....DONE.
F7	y=0000.
F8 21<	memory is cleared; all zeros and carriage returns; 42 bytes.
F6	load memory; host goes to line 1000; returns ? p when done.
F7	y=xxxx; last byte of program.
y 0<	set memory byte pointer to byte 0.
F8 21<	memory is loaded.
x<	sample motor test program in memory will run; note that memory
query (F8 21<) did not move the memory address pointer (y=0000).
F7	last address of program; pointer did move with each line of program.
y 0<	reset to top of program.
x<	sample motor test program in memory will run.
ADW0D<	change SMC address; prompt is now W0D<:.

Repeat the above with motor # 2, for example.

Parameters. Refer to the CY 545 MANUAL, SECTIONS 1-12 (Commands), 16 (see StepMotor and Home), 17 (Rate Tables), 19 (good sample program); sections 13,14,15 not used. Typical commands will duplicate the down-load with different values of R, S, and F used in order to determain the best parameters for moving the motor. Refer to the Rate Tables. Repeat Step 3 with different parameters.

Resonance. Resonance (feed-back oscillation between the motor rotor and the motor coils) is a vibration which affects the motor behavior. Typical symptions are shuttering, dropping steps, jumping back and forth, hard running, and excessive noise (unpleasent). All step motors exibit resonance at approximately 100 full step/sec (Low Frequency) and at 1000 full steps/sec (Mid Frequency). This behavior is affected by motor load, power, and speed. The normal procedure is to start at a speed (F command) above the low point and ramp through the mid point (S command) to a higher speed (R command).

To determine the resonance points, set F and S to the lowest value and R above mid freq. Move the motor sufficent steps to reach top speed. Note the points during this acceleration where the motor exhibits abnormal behavior; these are the low frequency nodes. The motor will stall at the mid freq. point. Resonance can be reduced by less power, decoupling the motor and load (isolating couplers; not metal to metal), higher speeds, faster acceleration, and/or smaller step angles.