<commit_before>.TH STEPGEN "9" "2007-01-16" "LinuxCNC Documentation" "HAL Component"
.de TQ
.br
.ns
.TP \\$1
..

.SH NAME
stepgen \- software step pulse generation
.SH SYNOPSIS
\fBloadrt stepgen step_type=\fItype0\fR[,\fItype1\fR...] [\fBctrl_type=\fItype0\fR[,\fItype1\fR...]] [\fBuser_step_type=#,#\fR...]

.SH DESCRIPTION
\fBstepgen\fR is used to control stepper motors.  The maximum
step rate depends on the CPU and other factors, and is usually in the range
of 5KHz to 25KHz.  If higher rates are needed, a hardware step generator
is a better choice.
.P
\fBstepgen\fR has two control modes, which can be selected on a channel
by channel basis using \fBctrl_type\fR.  Possible values are "\fBp\fR"
for position control, and "\fBv\fR" for velocity control. The default
is position control, which drives the motor to a commanded position,
subject to acceleration and velocity limits.  Velocity control drives
the motor at a commanded speed, again subject to accel and velocity
limits.  Usually, position mode is used for machine axes.  Velocity mode
is reserved for unusual applications where continuous movement at some
speed is desired, instead of movement to a specific position.  (Note that
velocity mode replaces the former component \fBfreqgen\fR.)
.P
\fBstepgen\fR can control a maximum of eight motors.  The number of
motors/channels actually loaded depends on the number of \fItype\fR values<commit_msg>Docs: update man page to 16<commit_after>.TH STEPGEN "9" "2007-01-16" "LinuxCNC Documentation" "HAL Component"
.de TQ
.br
.ns
.TP \\$1
..

.SH NAME
stepgen \- software step pulse generation
.SH SYNOPSIS
\fBloadrt stepgen step_type=\fItype0\fR[,\fItype1\fR...] [\fBctrl_type=\fItype0\fR[,\fItype1\fR...]] [\fBuser_step_type=#,#\fR...]

.SH DESCRIPTION
\fBstepgen\fR is used to control stepper motors.  The maximum
step rate depends on the CPU and other factors, and is usually in the range
of 5KHz to 25KHz.  If higher rates are needed, a hardware step generator
is a better choice.
.P
\fBstepgen\fR has two control modes, which can be selected on a channel
by channel basis using \fBctrl_type\fR.  Possible values are "\fBp\fR"
for position control, and "\fBv\fR" for velocity control. The default
is position control, which drives the motor to a commanded position,
subject to acceleration and velocity limits.  Velocity control drives
the motor at a commanded speed, again subject to accel and velocity
limits.  Usually, position mode is used for machine axes.  Velocity mode
is reserved for unusual applications where continuous movement at some
speed is desired, instead of movement to a specific position.  (Note that
velocity mode replaces the former component \fBfreqgen\fR.)
.P
\fBstepgen\fR can control a maximum of 16 motors.  The number of
motors/channels actually loaded depends on the number of \fItype\fR values
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