Pulse: Step/Dir and CW/CCW Logic

See Pulse Specifications.

The maximum separation between the Dir edge and the rising Step edge depends upon the sample rate and the commanded motion. A direction change happens in the same sample that the first pulse is commanded. The first Step occurs when the command position increments the first whole count.

The time separation can be estimated by using the following formula based on the commanded acceleration:

Step/Dir (and CW/CCW) and Motor Motion

Step/Dir and Velocity