QCI-AN019 Electronic Gearing
Contents
1. T id M Enabled x Seat Postion SP in Register 23 h m Master Distance MD in Register 24 Follow a master encoder using the specified Gear Ratio GR i Enable Trapezoid Move to move an additional distance x Master Ramp Distance MAD in Register 25 Trapezoid Move Distance TMD in Register 26 Cancel Override Existing Move Select Starting 7 t s i i Description Do Not Override Trapezoid Move foo oaa Relative Master Position Register21 Acceleration Factor AF Stop Condition One LIL ee Mive Only Register22 Scale Factor SF Gear Ratio GR 10 000 000 Jump to LOOP Options as n IV Enable Trapezoid Move Register 23 Start Position SP Relative to Master Position x Register 24 Master Distance MD Note Registers Register 25 Master Ramp Distance MRD 170 192 reserved Register 26 Trapezoid Move Distance TMD for internal use Register 27 Modulo Master Distance MMD Enable Bit Description Note both Override Existing Move and Do Not Override Trapezoid Move are checked This will Do Not Override Trapezoid Move cause this EGM to override the previous EGM but it On Stop Conditions Only Stop Trapezoid Move One Trapezoid Move Only will not interrupt any unfinished Trap Moves Note One Trapezoid Move Only is checked to ensure that the Slave will not retard 1000 counts if after completing the Trap Move the Master reverses QuickSilver C2. 0 End Command When Stopped see Options above 1 Override Existing Move see Options above 2 Do Not Override Trapezoid Move see Options above NOTE Only valid if bit 4 set 3 Must be set to 1 NOTE EGM has the same command number as PVC cmd 93 The command is EGM if this bit 1 and PVC if this bit 0 4 1 enables the Trapezoid Move 5 0 causes the Trapezoid start position to be Relative 1 causes the Trapezoid start position to be absolute Input value is Register N 2 NOTE Only valid if bit 4 set 6 1 enables the Modulo operation allowing the Trap Move to repeat multiple times Register 200 is automatically modulo ed by Register N 6 This may take some time to initially adjust if register 200 has a large value This Modulo is only adjusted between trapezoid moves NOTE Only valid if bit 4 set 7 On Stop Conditions Only Stop Trapezoid Move see Options above NOTE Only valid if bit 4 set 8 One Trapezoid Move Only see Options above NOTE Only valid if bit 4 set QuickSilver Controls Inc Page 11 of 16 Application Note QCI ANO019 QuickSilver Controls Inc SlaveSD EGM Trap Move qcp This example will help clarify the Trap Move parameters and how they affect a motion In this example the Slave will move an additional 6000 counts every 10000 Master counts Lines 9 21 Initialize Trapezoid Move Parameters The seven EGM registers are initialized prior to executing EGM Line 23 Exec
3. Note a GR of 1000 2000 is the same as 1 2 therefore setting CS and CM to 1 and 2 will have the same affect as setting them to 1000 and 2000 The example to the right SlaveSD qcp GR 1 2 CS 1 CM 2 RSD s SF registers is register 11 QuickSilver Controls Inc Page 5 of 16 Command SlaveSD qcp This file is used in Application Note QCI ANO1S Electronic Gearing Requirers QuickControl Rev 4 51 i SilverDust Firmware Rey 32 Configure the 1 0 lines for an External Encoder input source The Index will not be used and this 1 0 line can be re configured for other operation Select External Encoder Index Source 1 0 6 Encoder Style A B Quad on 1 0 4 amp 5 Set Gear Ratio GR to 1 2 For every 2 counts of the Master encoder move 1 count Change in Master Encoder CM Change in Slave Encoder CS Gear Ratio GR CS CM Slave Position GR Master Position Therefore a GR of 1 2 is also written as 1 2 which is read a 1 to 2 gear ratio For our example CS 1 and CM 2 GR 1 2 Write 2 to CM 30 Register Write 1 to CS 31 Register Set GR reaister to lt CM CS gt GR 32 LO CM 30 lt lt 16 LO CS 31 Start Electronic Gearing Registered Step and Direction Scale Factor GR 32 Register Application Note QCI ANO19 QuickSilver Controls Inc Registered Step And Direction RSD SilverNugget and SilverDust Pre Rev 32 An older implementation of RSD defines the SF registe
4. MD may be positive or negative according to the intended direction of motion of the master A positive value will locate the Trap Move motion positive of Start Position SP while a negative value will locate the Trap Move motion negative from SP Master Ramp Distance MRD Register N 4 MRD defines the number of Master counts the Trap Move will accelerate decelerate over MRD must be positive and must be less than half of the absolute value of Master Distance MD that is the acceleration and deceleration ramps must fit within MD Trapezoid Move Distance TMD Register N 5 TMD is the total extra counts the Slave will move the Master position count register 200 has transitioned across the selected MD in the specified direction Master Modulo Distance MMD Register N 6 MMD allows register 200 to be modulo ed Note this modulo is only realized outside the region of the Trap Move motion thus the MMD must be greater than MD and the Trap Move starting position SP must also be consistent with MD A single add or subtract is calculated each cycle when not inside the trapezoid so it may take a considerable amount of time to initially reach the valid modulo range if register 200 contains a large value when the modulo is first engaged QuickSilver Controls Inc Page 9 of 16 Application Note QCI ANO19 QuickSilver Controls Inc Options QuickControl The Trapezoid Move has the following options oK End Command When Stop
5. 2 Start Position SP Register N 3 Master Distance MD Register N 4 Master Ramp Distance MRD Register N 5 Trapezoid Move Distance TMD Register N 6 Master Modulo Distance MMD These registers are described in detail below Note During the move only the background EGM registers AF SF can be updated The Trap Move registers are only sampled when the command is started The Trap Move works in both directions If the modulo option is enabled continuous forward motion will allow repeated trapezoids to be commanded otherwise the trapezoid will only be executed as the Master transitions through Master Distance MD QuickSilver Controls Inc Page 8 of 16 Application Note QCI ANO19 QuickSilver Controls Inc Note The EGM command utilizes registers 170 through 192 for its internal operations The user should not alter these registers while the EGM command is operating Register Definitions Acceleration Factor AF Starting Register N Scale Factor SF Register N 1 These are described above Start Position SP Register N 2 SP is used to locate the Trap Move with respect to the Master position count in register 200 This trapezoid may be located at ether an absolute position or relative to the current value in register 200 The Trap Move is located either positive from the starting point or negative from the starting point according to the sign of MD see below Master Distance MD Register N 3
6. Factor SF Note if the input is oscillating back and forth these SF GR 10 000 000 movements count as excursions and the ISF will GR SF 10 000 000 grow without regard to the direction of the motion Where GR is Gear Ratio ie SF 10 000 000 GR 1 1 1 f f Write 10000000 to Setting AF to a negative value will act as ifa Stop CSF Register mm Condition was met causing the EGM to ramp to a be pose od Ramp Internal Scale Factor ISF from its i stop using the absolute value of AF This will also i current value to SF desired Scale Factor AF cause the EGM command to end regardless of the Note SF stats at zero when EGM ee 4 End Command When Stopped option setting If executed the continuous operation is desired then set the Example SF register to zero which will cause ISF to ramp to aaa SF 10 000 000 1 1 zero but will not cause the motion to end i SF will ramp from 0 to 10 000 000 in 1000 i Master counts Or in other words GR will A value of zero for the Acceleration Factor is ren Te nay ane oue cause the EGM to ramp down fairly quickly and to i AF 30 Register Electronic Gearing Mode end Acc Factor in AF 30 Scale Factor in SF 31 QuickSilver Controls Inc Page 7 of 16 Application Note QCI ANO19 QuickSilver Controls Inc If the user does not want the command to smoothly ramp between values but to rather operate as just a fixed scale factor set the Acceleration Factor
7. Master Position Write 2000 to TMD 26 Register Electronic Gearing Mode Acc Factor in AF 21 Scale Factor in SF 22 Trapezoid Move Enabled Start Position SP in Register 23 Master Distance MD in Register 24 Master Ramp Distance MRD in Register 25 Trapezoid Move Distance TMD in Register 26 Override Existing Move Do Not Override Trapezoid Move Relative Master Position Jump to LOOP each EGM will wait for the previous EGM s Trap Move to complete before executing a new Trap Move QuickSilver Controls Inc Page 15 of 16 Application Note QCI ANO19 QuickSilver Controls Inc SlaveSD EGM 32bit qcp This example shows how to dynamically calculate very accurate gear ratios The SilverLode servos deal only in integers so calculating a gear ratio like GR 123 456 to 789 123 123 456 789 123 requires some extra manipulation 1 Multiply GR s numerator and denominator by 1000 to get rid of the fractions GR 123456 789123 2 Since SF GR 10 000 000 multiply numerator by 10 000 000 first then divide by denominator This has to be done in this order or resolution will be lost do to truncation SF 123456 10000000 789123 The only problem with the above method is that the resultant of 123456 10000000 is greater than 32 bits which means it cannot be held in a normal 32 bit register The CLX command solves this by providing a 32x32 multiply that puts the resultant into a pair of 32 bit registers For
8. to larger than the largest expected Scale Factor i e 100 000 000 and the ramping will all occur with a single count of motion See below for description of Options EGM Trapezoid Move SilverDust Rev 37 When Enable Trapezoid Move is checked the EGM advanced Trapezoid Move option is enabled x Requirements Foll t der using thi ified Gear Ratio GR QuickControl Rev 4 64 el loons a a a a SilverDust Rev 37 l Cancel TeS I Description The Trapezoid Move option provides the high Register 21 Acceleration Factor AF Stop Coneiton resolution electronic gearing capability of the Register 22 Scale Factor SF Gear Ratio GR 10 000 000 ae ptions EGM command plus the ability to add an V Enable Trapezoid Move electronically geared Trapezoid Move while the Register23 Start Postion SP Relative to Master Position background gearing is under way Register24 Master Distance MD Note Registers Register 25 Master Ramp Distance MRD 170 192 reserved Register 26 Trapezoid Move Distance TMD for internal use A set of seven registers is required to configure Register 27 Modulo Master Distance MMD V Enable EGM and the Trap Move With the Starting Register N the seven registers are as follows Background EGM Registers e Register N Acceleration Factor AF e Register N 1 Scale Factor SF For a given Gear Ratio GR SF Gear Ratio GR 10 000 000 Trapezoid Move Registers e Register N
9. Application Note QCI AN019 QuickSilver Controls Inc Date 24 July 2008 www QuickSilverControls com Electronic Gearing Associated QuickControl programs included SlaveSD EGM qcp SlaveSD EGM 32bit qcp SlaveSD EGM Multi Trap Moves qcp SlaveSD EGM Phase Adj qcp SlaveSD EGM Trap Move qcp SlaveSD qcp SlaveSN qcp This application note describes how to implement electronic gearing between two SilverLode servos or a master encoder and a SilverLode servo See Encoder Signal Types in SilverLode User Manual for more details In these examples the Master servo is setup to output encoder signals to the Slave servo The Slave moves as the Master moves as if the two servos were mechanically linked or geared See Application Note QCI AN029 Camming for advanced electronic gearing applications Hardware In general the encoder output of the Master must be wired to the External or secondary Encoder input of the slave The details of which pins to use depends on the controller being used The following sections describes Master encoder output and Slave External encoder input for all QuickSilver s servo controllers Note The SMI Port is QCI s standard DB15HD pin connector which comes on all our controllers See specific controller datasheets for more details All the controllers are able to be slaves using the SMI port Slave Using SMI Port Signal Slave I O SMI Port I O 4 VO 5 LogicGround Pin8 SilverN
10. MD in the given MD QuickSilver Controls Inc Page 13 of 16 Application Note QCI ANO19 QuickSilver Controls Inc SlaveSD EGM Phase Adj qcp Acceleration Factor AF This example shows how to follow a master encoder f Write 500000 to cae ane i AF 21 Register with the additional ability to adjust the phase In m Scale Factor SF particular the Slave will advanced an additional 1000 SF Gear Raio GR 10 000 000 t counts every time I O 1 goes LOW SF 221 Register Start Position SP PE Write 0 t Lines 9 19 Initialize Trapezoid Move Parameters SP 23 Register In this example only 6 of 7 EGM registers are Maste Distance MD required because EGM modulo feature is not being MD 24 Register d Master Ramp Distance MRD used Write 1000 to MRD 25 Register E Trapezoid Move Distance TMD Line 21 EGM l Wite 1000 to EGM is executed in the background Note the Trap es Register Move is not enabled so this EGM simply sets GR to 0 5 and starts moving NOTE No trapezoid move yet Electronic Gearing Mode Acc Factor in AF 21 Line 24 WBE Se fart SFAT Wait for I O 1 to transition from HIGH to LOW veme Eising Move Line 25 EGM Advance 1000 Counts Advance 1000 counts when 1 0 goes LOW This second EGM is configured as follows to override j Wait On Bit Edge the previous EGM at the same base GR but with a a a OEE ectronic Gearing Mode 1000 count Trap Move Ace Factor in AF 21 Scale Factor in SF 22
11. division CLX has a 64 32 operation Scale Factor SF SF GR 10 000 000 GR SF 10 000 000 For high resolution gear ratios use CLX i 32x32 multiply Line 5 Numerator reg 25 Le Line 6 Denominator reg 26 Let GR 123 456 to 789 123 Line 7 32x32 GR 123 456 789 123 Store GR 123456 789123 SF GR 10000000 reg 25 10 000 000 SF 123456 10000000 789123 White 123456 to into reg 27 28 E User 25 Register Write 789123 to s p User 26 Register Line 8 SF 7 User 27 U64 User 25 10000000 Divide 64 bit value stored in reg 27 28 by reg 26 and store as E SB peeter ea eer SF in reg 31 AF 30 Register Electronic Gearing Mode Acc Factor in AF 30 Scale Factor in SF 31 QuickSilver Controls Inc Page 16 of 16
12. ignals through I Os 4 and 5 in A B Quadrature format or Step and Direction formats Once SEE is executed the master encoder is automatically read in the background The master encoder value is also stored in register 200 See example programs below for usage information Gear Ratio Commands Registered Step and Direction RSD and Electronic Gearing Mode EGM can both be used to specify a GR and start electronic gearing RSD EGM Simple Advanced Available on both SilverDust Available on SilverDust Only and SilverNugget Specify GR as interger ratios Specify GR as decimal i e 1 3 i e 1 1 234567 Optional Acceleration Factor An acceleration ramp can be specifed to change between GR Optional Trapezoid Move A trapezoid move can be triggered to advance retard a specified distance in addition to base GR QuickSilver Controls Inc Page 4 of 16 Application Note QCI ANO19 QuickSilver Controls Inc Registered Step And Direction RSD SilverDust Rev 32 CM and CS are stored in the upper and lower words of the SF register specified by the RSD command This allows for easy entry when both CM and CS are integers i e GR CS CM 1 3 RSD SF Register Upper Word Lower Word Change in Master Change in Slave Encoder CM Encoder CS CM may range from 1 to 32767 and CS may range from 32768 through 32767 A negative CS causes the slave to move in the opposite direction as the master
13. nic gearing capability including the ability to smoothly transition between different gear ratios The basic EGM command requires two registers See below for advanced Trapezoid Move Scale Factor SF Register The Scale Factor SF register is Gear Ratio multiplied by 10 000 000 to provide a range of 200 with 7 places behind the decimal point The upper limit will depend upon the motor encoder resolution and the allowable output shaft motion for each Master count SF GR 10 000 000 Acceleration Factor AF Register The Acceleration Factor AF register is used to limit the rate of change of the Internal Scale Factor ISF ISF is the internal or actual scale factor used by EGM while SF is the desired or target scale factor Normal usage has a positive value for AF When first initialized the ISF starts at 0 For each count change in the Master position ISF is moved in the direction of SF by AF counts Once running when the SF register is changed the ISF smoothly ramps from its previous value to the new requested value over a number of Master counts Command tc SlaveSD EGM qcp In the example SlaveSD EGM qcp This file is used in Application Note SF 10 000 000 1 1 OCI AN019 Electronic Gearing AF 10 000 l Requirers QuickControl Rev 4 62 SilverDust Firmware Rey 34 Then ISF will ramp from O stopped up to Tran meetin tp SF 10 000 000 1 1 over 1000 Master counts Encoder Style A B Quad on I 0 4 amp 5 Scale
14. odulo Master Distance MMD V Enable Bit Description End Command When Stopped Override Existing Move Do Not Override Trapezoid Move One Trapezoid Move Only QuickSilver Controls Inc Page 12 of 16 On Stop Conditions Only Stop Trapezoid Move Application Note QCI ANO19 QuickSilver Controls Inc The following chart of Slave Position with respect to Master Position shows how the Slave moves as the Master changes from 0 to 18000 EGM w Trapezoid Move SP 20000 4 16000 4 2 D 12000 fo oO g amp 8000 o 4000 i Q T T ij T i T T T 1 2000 0 2000 4000 6000 8000 10000 12000 14000 16000 18000 Master Position The following table details each transition point Master Internal Gear Ratio IGR Description Position 0 2000 IGR GR 0 5 Base Gear Ratio GR 2000 IGR GR 0 5 Start of Trap Move 2000 3000 IGR 0 5 to Trap Move GR Ramp up to Trap Move GR 3000 5000 IGR Trap Move GR 7 5000 6000 IGR Trap Move GR to 0 5 Ramp down to GR 6000 IGR GR 0 5 Trap Move Complete 6000 10000 IGR GR 0 5 Base Gear Ratio GR 10000 IGR GR 0 5 End of Modulo 1 Internal Gear Ratio IGR is the actual GR being used The controller calculates this based on the Base Gear Ratio GR and what part of the Trap Move is currently being executed Trap Move GR is calculated internally by the controller to achieve the T
15. ontrols Inc Page 14 of 16 Application Note QCI ANO19 QuickSilver Controls Inc SlaveSD EGM Multi Trap Moves qcp This example shows how to follow a master encoder with the additional ability to adjust the phase In particular the Slave will advanced an additional 1000 counts every time I O 1 goes LOW Lines 7 13 Initialize Trapezoid Move Parameters In this example only 6 of 7 EGM registers are required because EGM modulo feature is not being used Note AF and SF 0 This means that the Base Gear Ratio GR 0 In other words the Slave will only move the Trapezoid Move Distance TMD when triggered Line 15 16 1 EGM Move 2000 counts over a Master Distance MD of 16000 counts Line 17 18 2 EGM Move 2000 counts over a Master Distance MD of 16000 counts Since Do Not Override Trapezoid Move is checked LOOP Write 0 to AF 21 Register Write 0 to SF 22 Register Trapezoid Move Params Write 0 to SP 23 Register Write 16000 to MD 24 Register Write 2000 to MRD 25 Register Write 1000 to TMD 26 Register Main Loop Write 2000 to TMD 26 Register Electronic Gearing Mode Acc Factor in AF 21 Scale Factor in SF 22 Trapezoid Move Enabled Start Position SP in Register 23 Master Distance MD in Register 24 Master Ramp Distance MRD in Register 25 Trapezoid Move Distance TMD in Register 26 Override Existing Move Do Not Override Trapezoid Move Relative
16. ound Gnd QuickSilver Controls Inc Page 2 of 16 Application Note QCI AN019 QuickSilver Controls Inc SilverDust IG8 The user can configure the IG8 to output its Ouput encoder to 1 0 4 5 and 6 encoder to the SMI port I O 4 5 using the Encoder Monitor EMN command See OupuinEncAB tO ms i 5 Command Reference and QCI DS018 for more details Advanced Signal Master w EMN cmd fe SMI Port VO 4 VO 5 LogicGround Pin8 Gear Ratio GR The GR of the Slave to Master is expressed as follows lt Change in Slave Encoder CS gt lt Change in Master Encoder CM gt lt CS CM gt For example a 1 to 2 GR would be expressed as 1 2 and would mean for every 2 encoder counts of the Master the Slave would move 1 encoder count Therefore a Gear Ratio of CS CM would be Gear Ratio GR CS CM CS CM Slave Position S Master Position P S GR M S CS CM M For 1 2 Gear Ratio example CS 1 CM 2 GR CS CM 2 S GR M M There are several ways of programming GR depending on what controller is being used See below for details QuickSilver Controls Inc Page 3 of 16 Application Note QCI ANO19 QuickSilver Controls Inc Software In order for a Slave to follow the Master s encoder it must first be configured to read the encoder and then to slave off it using a specific GR Select External Encoder SEE On all the controllers the SEE command is used to read the Master servo s encoder s
17. ped rea Set this option to end the command when the Trap Move has completed and servo is commanded to zero velocity SF 0 and stops actual velocity 0 Note if itt Bit Description Trap Move enabled option One Trapezoid Move Only End Command When Stopped must be set for this option to work E Override Enea Move Do Not Override Trapezoid Move On Stop Conditions Only Stop Trapezoid Move Override Existing Move One Trapezoid Move Only Set this option to have EGM override any existing move commands requires multi tasking enabled Do Not Override Trapezoid Move Do not override if Trap Move is still active When used in conjunction with Override Existing Move the option allows the prior Trap Move to complete while keeping the background EGM operation active On Stop Conditions Only Stop Trapezoid Move If unchecked all motion is stopped and EGM exits if a Stop Condition is met If checked only Trap Move is stopped when Stop Condition is met EGM continues One Trapezoid Move Only If checked once the Trap Move completes it will not repeat even if the Master count reverses or Master Modulo Distance is enabled QuickSilver Controls Inc Page 10 of 16 Application Note QCI ANO19 QuickSilver Controls Inc EGM Mode Word non QuickControl The Mode parameter is edited by QuickControl The following bit definitions are provided for those users who are not using QuickControl Bit Description
18. r as follows Note this implementation is the only option for the older SilverNugget controllers SF GR SF1 SF 1 is the Scale Factor for a 1 1 gear ratio SF1 depends on encoder resolution as follows 4000 CPR SF1 1024 8000 CPR SF1 512 16000 CPR SF1 256 Example If the Slave has an 8000 counts per revolution CPR Vase beta encoder and the desired GR is 1 2 what should be Baar stored in the SF register QCI AN019 Electronic Gearing Use this program to electronically gear a slave SilverNugget or an older SilverDust Step 1 Determine the SF1 pre rev 32 Configure the 1 0 lines for an External Encoder input source The Index will not be The Slave s encoder is 8000 CPR so SF1 512 used and this 1 0 line can be re configured for other operation Step 2 Calculate SF Value hens peer Encoder Style A B Quad on 0 4 amp 5 SF GR j SF1 ISet Scale Factor SF for a 1 2 Gear Ratio SF 1 2 51 2 GR assuming an 8000 CPR encoder Scale Factors for 1 1 Ratio SF1 SF 256 CPR SFI lt 4000 1024 8000 512 16000 256 ISF GR SF1 For our example SF1 512 iGR 1 2 iSF GR SF1 256 aan aae SF 11 Register Registered Step and Direction Scale Factor SF 11 Register QuickSilver Controls Inc Page 6 of 16 Application Note QCI ANO19 QuickSilver Controls Inc Electronic Gearing Mode EGM SilverDust Rev 34 EGM provides high resolution electro
19. ugget Master Use the Modulo Set MDS command to output the internal encoder to Signal Master I O SMI Port VO 6 Property of QuickSilver Controls Inc Page 1 of 16 This document is subject to change without notice QuickControl and QCI are Registered Trademarks of QuickSilver Controls Inc SilverLode SilverNugget SilverDust PVIA QuickSilver Controls and AntiHunt are trademarks of QuickSilver Controls Inc Application Note QCI AN019 QuickSilver Controls Inc I O 7 Logic Ground 4 7K pull up resistors I O pin to 5 volt should be added to increase signal integrity SilverDust MG IGF IGC Master The SilverDust MG IGC and IGF do not have an encoder output option and can therefore not be Masters SilverDust IG Master The SilverDust IG always outputs it encoder on Aux connector pins 13 15 and 16 See QCI DS019 for details Signal Master Aux Conn Encoder A Pin 15 Encoder B Pin 13 Logic Ground Pin 16 SilverDust IGB The SilverDust IGB always outputs its encoder on the breakouts terminals ENC OUT A B Z See QCI DS003 for details External encoder input is available from either the breakout terminals ENC IN A B Z or from the SMI port Master Signal Master Breakout Encoder A ENC OUTA Encoder B ENC OUT B Logic Ground Gnd Slave Standard SMI Port or Signal Slave I O Breakout I O 4 ENC IN A VO 5 ENC IN B LogicGr
20. ute Trapezoid Move The move is executed in the background because of the Enable Multi Task Command EMT command at the top of the program EGM is configured as follows Follow a master encoder using the specified Gear Ratio GR OK Enable Trapezoid Move to move an additional distance x Cancel Select Starting p7 a Register e Description Register 21 Acceleration Factor AF Stop Condition Register 22 Scale Factor SF Gear Ratio GR 10 000 000 Options till V Enable Trapezoid Move Write 500000 to AF 21 Register Scale Factor SF SF Gear Ratio GR 10 000 000 Write 5000000 to SF 22 Register Start Position SP Write 2000 to SP 23 Register Master Distance MD Write 4000 to MD 24 Register Master Ramp Distance MRD Write 1000 to MAD 25 Register Trapezoid Move Distance TMD Write 6000 to TMD 26 Register Master Modulo Distance MMD Write 10000 to MMD 27 Register Electronic Gearing Mode Acc Factor in AF 21 Scale Factor in SF 22 Trapezoid Move Enabled Start Position SP in Register 23 Master Distance MD in Register 24 Master Ramp Distance MRD in Register 25 Trapezoid Move Distance TMD in Register 26 Relative Master Position Modulo Enabled Register 23 Start Position SP Relative to Master Position z Register 24 Master Distance MD Register 25 Master Ramp Distance MRD Register 26 Trapezoid Move Distance TMD Register 27 M
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