Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
Segment Length Restrictions
• The sum of all of the segment lengths cannot exceed 8,388,607.
• The segments must be positive.
• The LSW of the segment length has a range of 0 to 999.
Acceleration Type
Every two bits in these words define the acceleration type of each segment. When the least significant bit
of the two is reset, the acceleration type of the segment will be Constant. When the least significant bit of
the two is set, the state of the most significant bit determines the type of S curve acceleration. If the most
significant bit is reset, triangular S curve acceleration will be used. If the most significant bit is set,
trapezoidal S curve acceleration will be used. The following table shows an example of how the bits in
this word are used.
Word Segment MSB of pair LSB of pair Function
LSW
0 0 Constant Acceleration
1 0 1 Triangular S Curve Acceleration
Bits 1 & 0 1 1 Trapezoidal S Curve Acceleration
0 0 Constant Acceleration
2 0 1 Triangular S Curve Acceleration
Bits 3 & 2 1 1 Trapezoidal S Curve Acceleration
MSW
0 0 Constant Acceleration
15 0 1 Triangular S Curve Acceleration
Bits 13 & 12 1 1 Trapezoidal S Curve Acceleration
0 0 Constant Acceleration
16 0 1 Triangular S Curve Acceleration
Bits 15 & 14 1 1 Trapezoidal S Curve Acceleration
Final Segment Deceleration & Acceleration Type
This word defines the deceleration rate between the final segments programmed speed and the starting
speed. The two Most Significant bits in this 16 bit-word also define the deceleration type.
Bit 15 Bit 14 Function
0 0 Constant Acceleration
0 1 Triangular S Curve Acceleration
1 1 Trapezoidal S Curve Acceleration
Acceleration/Deceleration Parameters
This parameter defines the rate of change of the speed between two adjacent segments. If the speed in the
next segment is greater than the speed in the current segment, then this parameter will be used as an
acceleration value. If the speed in the next segment is less than the speed in the current segment, then this
parameter will be used as a deceleration value.