4.2.2. Rotation for predefined point¶
The rotation to predefined point mode is the main operating mode for all the types of motors and is usually used simultaneously with predefined speed rotation mode. It provides moving the stage to the defined position with absolute value for destination point coordinates which is different from predefined displacement mode. An additional reciprocal motion close to predefined point may be performed at Backlash compensation mode.
While using the encoder, few barely noticeable “vibrations” are possible before the motor stops in predefined point.
Besides, the movement to a given point, for stepper motors, can be carried out in the feedback mode encoder mediated. In this case, the movement is carried out in several iterations with position control at the end of each iteration of the encoder, until it hits a given coordinate with a certain accuracy.
After the starting command is received by the controller, it either switches on the acceleration mode (if the appropriate option is on) or immediately starts rotating the shaft of the motor with user-defined speed. After the predefined point is reached, the rotation stops; deceleration may be activated if the appropriate option is on. The destination point is set in XILab main window. The destination point may be defined either in full steps and microsteps for stepper motors or in encoder counts for all types of motors.