                                                          
              MD-2 Dual Stepper Motor Driver              
         MD-2MOVE Motion Control Program Help File        
                                                          
The MD-2MOVE program preforms motor movement functions    
and displays motor status information.  The motor(s) can  
be moved using keystrokes or a joystick.  All motor       
parameters can be altered and experimented with.  These   
parameters are saved in the file MD-2MOVE.CFG.  Positions 
sequences can be saved in a disk file and executed.       
                                                          
    Motor Information Box                                 
                                                          
The motor information box lists all current motor         
parameters including step type, speed and current         
position.  When the motor number is shown in reverse      
then that motor has been initialized.  When the motor     
number has an * next to it then that port is available    
on your computer.  The switch status is displayed         
constantly unless a motor is in motion.                   
                                                          
                                                          
    Motor # information                                   
                                                          
Up to 3 MD-2 packages can be connected to the PC,XT or AT 
each controlling 2 motors for a total of 6.  Which motors 
you have depends on which parallel print port(s) are in   
the computer.  The 2 motors connected to port 3BC which   
is usually on a monitor controller card are motors 1 & 2, 
the 2 motors connected to port 378 which is normally on a 
parallel printer or multi-function card are motors 3 & 4, 
and motors connected to port 278 are 5 & 6.               
                                                          
    Motor Move Keys                                       
                                                          
The function keys are used to move the motors according   
to the INCREMENT parameter.  (See more information on the 
I command)  The Joysticks or arrow keys can also be       
assign to control a pair of motors.  (See more            
information on the C command)  The SPACE-BAR will stop    
any movement except when key checking is disabled.  (See  
more information on the K command).  The switches can     
also stop a motor movement if enabled. (See more          
information on the L command)                             
    A command - Adjust Position Value                     
                                                          
The A command can be used to adjust the current           
position value of the motor(s).  No motor movement is     
done, only an adjustment to the position value.  This     
position is in steps relative to the home (0) position.   
Negative numbers are positions that are reverse from      
position 0 and positive number are positions that are     
forward from position 0.                                  
                                                          
                                                          
    B command - Set Backlash Value                        
                                                          
The B command is used to set the backlash values of       
any or all motors.  The backlash value is used to         
compensate for belt stretch or gear backlash.  When ever  
the motor changes directions the backlash is added to the 
step count to take up slack in the mechanical system.  To 
find backlash move the motor forward until the object     
moves, then move reverse while counting steps until the   
object moves again, this step count is the backlash.      
Valid backlash values are 0 - 32767.                      
    C command - Assign Motor Control                      
                                                          
The C command is used to assign the control over          
motor moves.  In all cases the motors can be moved using  
the function keys, the operator may also choose to move   
the motors using the arrow keys (up,down,left,right) or   
joystick A or B.                                          
                                                          
                                                          
                                                          
                                                          
    D command - Determine Speed                           
                                                          
The D command calculates the motor speed in steps per     
second from a given delay value.  Fake steps are          
given and the time taken is determined, from this the     
motor speed in steps per second is calculated. The        
calculated speed should be within 5% correct.  See        
the S command concerning speed for more information       
on this subject.                                          
                                                          
                                                          
    F command - File Positions                            
                                                          
The F command allows the user to save the current         
positions to a disk file.  When the first F command is    
used a file name will be requested, subsequent F commands 
will save to the same file.  These position files can be  
executed using the R commmand.  If the position file      
already exists the positions will be added to the end     
of the file.  Position files can be listed using the      
MD-2LIST program and edit using a standard text editor.   
                                                          
    H command - Display Help Information                  
                                                          
The H command is used to display the MD-2MOVE.HLP         
text file in a window on the MD-2MOVE screen.  PGUP       
(page up) and PGDN (page down) scrolls between pages.     
HOME displays the first page, END displays the last page. 
Press ESC (escape) to remove the help screen.             
                                                          
                                                          
                                                          
                                                          
    I command - Set Step Increment                        
                                                          
The I command is used to set the step increment           
value.  This value is the number of steps the motor will  
move when a function key is pressed (arrow keys or        
joysticks if they are activated).  Valid increments are   
1 - 32767.                                                
                                                          
                                                          
                                                          
                                                          
    K command - Set Keypress Checking                     
                                                          
The K command is used to set the keypress checking        
parameter.  When set to YES the motors will stop whenever 
a SPACE-BAR is pressed.  When set to NO the keyboard is   
ignored.  This can be used for emergency stops.           
                                                          
                                                          
                                                          
                                                          
                                                          
    L command - Set Switch Checking                       
                                                          
The L command is used to set the switch checking          
parameter.  When set to YES the motors will stop whenever 
its switch becomes activated.  When set to NO the switch  
is ignored.                                               
                                                          
                                                          
                                                          
                                                          
                                                          
    M command - Move Motor                                
                                                          
The M command is used to move a motor differently         
from the function keys.  The operator can choose to move  
the motor HOME which moves the motor reverse until the    
switch is activated then forward until deactivated.  This 
is considered the HOME or (0) position.  Also a motor can 
be moved to a certain position by giving the target       
position in steps.  When the motor is being moved         
continously, only a keypress or switch will stop it if    
they are enabled via Key press or switch checking.        
    P command - Set Power Down                            
                                                          
The P command sets the power down parameter.  When        
set to YES the motor windings are turned off when the     
movement is stopped, this will conserve energy, reduce    
heat disapating and remove holding torque.  When set to   
NO the motor windings are left on when the movement is    
stopped, this causes the motor to have holding torque and 
resist any movement.                                      
                                                          
                                                          
    Q command - Quit and Return to DOS                    
                                                          
Select the Q command to return to the operating           
system.  All parameters are saved to the file             
MD-2MOVE.CFG and restored when the program is used next.  
                                                          
                                                          
                                                          
                                                          
                                                          
                                                          
    R command - Run a Position File                       
                                                          
The R command is used to read a position file from        
the disk and move to the positions in sequence.  These    
position files can be created using the F command and     
edited using a standard text editor.  The program         
MD-2LIST can be used to list these files.                 
                                                          
                                                          
                                                          
                                                          
    S command - Set Motor Speed                           
                                                          
The S command is used to set the speed of the             
motors.  This speed value is actually a delay between     
steps.  The larger the number the slower the motor will   
move.  Computers that operate at different speeds will    
have different speed values.  Choosing a speed that is    
to fast will cause the motor to loose steps or jump       
around.  As the torque requirements increase the speed of 
the motor may need to be decreased since stepper motors   
have higher torque at lower speeds.  Values 0 - 32767.    
    T command - Set Step Type                             
                                                          
The T command is used to set the step type of each        
motor.  The user may select HALF step mode which has .9   
degree steps and no resonance problems, SINGLE step which 
has 1.8 degree steps and minimum torque and power         
requirements or DOUBLE step which has 1.8 degree steps    
and maximum torque and power requirements.  Use HALF step 
mode when possible.                                       
                                                          
                                                          
   The format of the position file is as follows:         
                                                          
   12, 33300, 0, 500, -900, 100                           
   ^     ^    ^   ^     ^    ^                            
   |     |    |   |     |    |___ Motor # 6 position      
   |     |    |   |     |________ Motor # 5 position      
   |     |    |   |______________ Motor # 4 position      
   |     |    |__________________ Motor # 3 position      
   |     |_______________________ Motor # 2 position      
   |_____________________________ Motor # 1 position      
                                                          
                                                          
                                                          
                                                          
                                                          
                                                          
                                                          
                 End Of Help Information                  
                                                          
                                                          
                                                          
                                                          
