- Maximum Speed = 2520 steps per second
- Acceleration = 500 steps per second
^{2} - Set Rate (Medium Speed) = 1000
- Track rate in pulses per second = 103(for tracking), 102 (for moves)
- Guide Rate = 40
- Motor Specifications

- The program provided by Superior is good for testing but will not satisfy our telescope requirements.
- I have written a short Visual Basic program for testing. It's stored in a folder called "MX2000Tester". It has a terminal window and buttons for manual testing of motor commands.
- The communications port settings are as follows: COM1, 9600 baud, No parity, 8 data and 1 stop bit.
- The commands that seem relavant are MOVE, JOG, SPEED, ACCEL, DECEL, MAXSPD, ABSPOS.
Here are some examples.
- MOVE(1)=-1 ' Move motor #1 one unit (e.g. CCW)
- JOG=0,1 ' Ramps motor #2 to maximum speed (eg. CW)
- MAXSPD=1, 1 ' Sets the maximum speed of both motors to 1 unit/second
- ACCEL=1.86 ' Maximum acceleration (The minimum acceleration setting for MX2000 seems to be ~1.86 units/second
^{2}(See required SS2000D12 settings below)) - DECEL=1.86 ' Maximum decleration
- ABSPOS ' Returns the number of units moved from the start position. This may be good for error checking.

- The MX2000 system seems to have it own unit of measure. For example speeds must
be given in terms of units/seconds when programming.
__SFA Experimental Data__:- The setting on the SS200D12 Motor Drives is set to 20000 steps per revolution.
- Experimentally this gives 10 units = 1 revolution. For example, "MOVE=10" rotates motor A one revolution.
- The information printed on the motor says 200 steps per revolution so I suppose we are "microstepping".
- "SPEED=1" followed by "MOVE=10" causes Motor A to move 1 revolution in 10 seconds.
- Note: q=wt. So t=q/w=10 seconds.

- "SPEED=50","MAXSPD=50", "ACCEL=10", "DECEL=10" followed by "MOVE=250" causes Motor A to move 1 revolution in 10 seconds.
- Note: q=
^{1}/_{2}at^{2}, w=at, and w^{2}=2aq for acceleration from rest to the maximum speed. - So q=w
^{2}/(2a)=125 units and t=w/a=5 seconds units for ramping up all the way to MAXSPD (w_{max}) from rest. The total time for ramping up and then back down would be 10 seconds (q_{a}=2w_{max}^{2}/(2a)=250 units).

- Note: q=

__Calculating Move Times__:- Now consider the case where the move distance q
_{total}is less than q_{a}=w_{max}^{2}/a.- Here MAXSPD (w
_{max}) is not reached. The total number of units moved is then q_{total}=2(^{1}/_{2}a(t/2)^{2}). - So MOVETIME = t = 2(q
_{total}/a)^{(-1/2)}for q_{total}<q_{a}.

- Here MAXSPD (w
- Now consider the case where the move distance q
_{total}is greater than q_{a}=w_{max}^{2}/a.- Here MAXSPD (w
_{max}) is reached and maintained for some time t_{2}=q_{2}/w_{max}where q_{2}is the distance moved during the time when the motor is moving at its maximum speed. - The time for an accleration is t
_{1}=w_{max}/a and the distance moved during an accleration is q_{1}=w_{max}^{2}/(2a). - Note that MOVETIME = t = 2t
_{1}+ t_{2}and the distance moved is q_{total}= 2q_{1}+ q_{2}. - So MOVETIME = t = q
_{total}/w_{max}+ w_{max}/a for q_{total}>q_{a}.

- Here MAXSPD (w

- Now consider the case where the move distance q

Dan Bruton