steptest - Used by Stepconf to allow testing of acceleration and velocity values for an axis.
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loadrt steptest [count=N|names=name1[,name2...]] |
steptest.N (requires a floating-point thread)
steptest.N.jog-minus bit in
Drive TRUE to jog the axis in its minus direction
steptest.N.jog-plus bit in
Drive TRUE to jog the axis in its positive direction
steptest.N.run bit in
Drive TRUE to run the axis near its current position_fb with a trapezoidal velocity profile
steptest.N.maxvel float in
Maximum velocity
steptest.N.maxaccel float in
Permitted Acceleration
steptest.N.amplitude float in
Approximate amplitude of positions to command during ’run’
steptest.N.dir s32 in
Direction from central point to test: 0 = both, 1 = positive, 2 = negative
steptest.N.position-cmd
float out
steptest.N.position-fb float in
steptest.N.running bit out
steptest.N.run-target float out
steptest.N.run-start float out
steptest.N.run-low float out
steptest.N.run-high float out
steptest.N.pause s32 in (default:
0)
pause time for each end of run in seconds
steptest.N.epsilon
float rw (default: .001)
steptest.N.elapsed float r
Current value of the internal timer
GPL