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slave_f_to_z_module [2017/12/22 22:17]
slave_f_to_z_module [2019/04/18 23:35] (current)
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 +====== SLAVE_F_TO_Z Module Operation (FTP firmware) ======
 +Controllers with the SLAVE_F_TO_Z module facilitates use of a master/​slave set of motorized axes.  When the master axis is moved or adjusted then the slave axis is correspondingly changed automatically. ​ The user should almost always interact with the master axis so that the two axes remain synchronized. ​ During setup it may be helpful to interact with the slave axis to get them mechanically aligned.
 +===== Supported Commands with Slave Separate =====
 +For these commands, moves or changes to the master axis will be applied to the slave axis automatically but not vice versa. ​ It is possible to change only the slave axis by sending commands to it.
 +  * <wrap cmd>​MOVE</​wrap>​
 +  * <wrap cmd>​MOVREL</​wrap>​
 +  * <wrap cmd>​HERE</​wrap>​
 +===== Supported Commands with Mirror Behavior =====
 +For these commands, changes made to either axis will be copied to the other one.
 +  * <wrap cmd>​SPEED</​wrap>​
 +  * <wrap cmd>​ACCEL</​wrap>​
 +  * <wrap cmd>​MC</​wrap>​
 +  * <wrap cmd>​CNTS</​wrap> ​
 +  * <wrap cmd>​MAINTAIN</​wrap>​
 +  * <wrap cmd>​WAIT</​wrap>​
 +  * <wrap cmd>​EPOL</​wrap>​
 +  * ''​HALT''​ = <wrap cmd>/</​wrap>​ because all axes are affected
 +  * <wrap cmd>​ZERO</​wrap>​ serial command and ''​ZERO BUTTON''​ because all axes are affected
 +  * ''​HOME''​ button because all axes are affected
 +  * In most situations the <wrap cmd>​CUSTOMA</​wrap>​ commands are implicitly supported because they will apply to the system, e.g. all Z leadscrews are set together
 +===== Supported Events =====
 +  * Limits: when one axis reaches one of its hardware (magnet) or software limit a mirror event is also trigged on the other axis too. 
 +  * AXIS enabled/​disabled. When one of the axes is enabled /disabled either due to user command or controller action (e.g. move error), the other axis is also enabled/​disabled.
 +  * ''​KNOB''​ and ''​PEDAL''​ actions are supported. ​
 +===== Unsupported Commands =====
 +Make note that these following commands are not supported:
 +  * Software Limits <wrap cmd>​SU</​wrap>​ and <wrap cmd>​SL</​wrap>​. Changing one axis software limit position will not alter the axis software limit position. ​ However, both axes will stop when a limit is encountered on either one.
 +  * <wrap cmd>​SPIN</​wrap>​. ​ Spin command will only move the commanded axis only. This is may aid during installations but otherwise should never be used on slaved axes because the motors are running in "open loop" without any position feedback.
 +===== Supported Modules =====
 +  * Autofocus
 +  * CRISP
 +  * PEDALS
 +  * TTL i.e. IN0_INTERRUPT
 +===== Aligning/​Synchronizing =====
 +  * Use the <wrap cmd>MOVE F=### </​wrap>​ or <wrap cmd>​MOVREL F=#### </​wrap>​ serial command to move to the desired position without affecting Z axis's position. ​
 +  * Once aligned and synchronized use the [[commands:​here|HERE command]], [[commands:​zero|ZERO command]] or button to zero the positions. ​ From then on, F axis will move identical to Z axis. 
 +  * When you hit the limits, one of the axes will also detect the limits before another and halts the motion of the axis. This sometimes leads to minor realignment. To realign again, back out with a serial command and the axis should be synchronized again.  ​
 +{{tag>​tech_note ftp}} 
slave_f_to_z_module.txt ยท Last modified: 2019/04/18 23:35 (external edit)