Hello, you have to do this in the ini file.....
like this
Code:
#******************************************
[AXIS_B]
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 3500.0
MIN_LIMIT = -999999.0
MAX_LIMIT = 999999.0
[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 3500.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 315.00
STEPGEN_MAXACCEL = 7000.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 5000
STEPSPACE = 5000
STEP_SCALE = 111.1111
MIN_LIMIT = -999999.0
MAX_LIMIT = 999999.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.000000
HOME_LATCH_VEL = 0.00000
#HOME_FINAL_VEL = 0.250000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 3
#******************************************
