### 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.

The user 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] {<duration2> <velocity2>}

Units/Range: durationN = milliseconds (0 to 32767)
velocityN = rotary: RPM (-VLIM to +VLIM)
linear: mm/sec (-VLIM to +VLIM)
Opmodes: 0 Drive Status: en