Setup and Reference Guide - Kollmorgen

STEP
Generates a step or square wave velocity command. This command is intended to be used to record the drive
response after the RECTRIG has been set up to define the trigger as occurring after the next command. This
command takes 2, 3, or 4 parameters.
• When 2 parameters are used, the drive is issued a STEP command with a specified duration (“duration1”)
and velocity (“velocity1”).
• When 3 parameters are used, the command becomes a repeating square wave which includes a zero velocity
cycle whose duration is specified by the third parameter (“duration2”).
• When 4 parameters are used, the square wave command will run for the time specified by “duration1” at the
speed specified by “velocity1,” then will run for the time specified by “duration2” at the speed specified by
“velocity2.” This motion then repeats.
You can terminate the command by entering S, K, DIS, or a Jog (J) command. This command is prohibited
while in Hold mode.
Firmware Versions: All Command Syntax: STEP [duration1] [velocity1] {
Range: [durationN]: 0 to 32767
[velocityN]: -VLIM to
+VLIM
}
Opmodes: 0 Drive Status: EN
Units: [durationN] milliseconds
[velocityN]: rotary: RPM, linear: mm/sec
STOP
Stops motion in OPMODE 0 (J and STEP commands) or 2 (T command). Unlike the S and K commands, the
drive is not disabled using the STOP command. Deceleration ramp control is used in OPMODE 0, if
PROFMODE is set to 1. The deceleration rate is stored in the variable DEC. If this command is invoked in
Opmode 1 or 3, it is ignored.
Firmware Versions: All Command Syntax: STOP
Opmodes: 0, 2 Drive Status: EN
STOPMODE
Sets the mode of dynamic braking operation. See also ISTOP.
0 = no braking operation (default).
1 = brake on fault only.
2 = brake on fault and/or drive disable.
Faults do not include Over Voltage or Power Stage Faults!
Firmware Versions: 2.1.0 and later Type: switch mode (R/W) Units: N/A
Range: 0 to 2 Default: 0 EEPROM: Yes
Opmodes: All Drive Status: EN/DIS
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