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The medium_accel parameter is used to control motor acceleration slope when the
unload table stepper motor when it is running at MEDIUM speed. The motor ramps
up from medium_start_vel to medium_end_vel at a rate specified by medium_accel
and ramps back down using the same acceleration slope as it reaches its target
position. If the value in medium_start_vel is larger than the value in
medium_end_vel, then the stepper motor will start and stop at the speed
specified by the medium_end_vel and will not ramp up or down.
Decreasing this value will reduce the motor acceleration.
For small acceleration values, the motor can take a very large number of steps
to go from the start velocity to the end velocity. If the distance that the
motor needs to move is too short for it to reach the end velocity, then it
will perform a partial acceleration to the highest velocity attainable under the
current acceleration value before starting to ramp back down to stop at the
target position.
MEDIUM speed is only used while moving the unload table stepper motor towards
its home position while searching for the HOME sensor.
Syntax: set aldrv 2 ms
Other products have more than one stepper motors axis, so used "set aldrv 1" and
"set aldrv 2" for the separate axes. The 3244 Trendsetter Autoloader has only one
axis, but kept the same parameter structure for consistency.
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