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									"numoutlets" : 2,
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									"parameter_enable" : 0,
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							}
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									"id" : "obj-16",
									"maxclass" : "newobj",
									"numinlets" : 1,
									"numoutlets" : 2,
									"outlettype" : [ "int", "int" ],
									"patching_rect" : [ 579.666666666666629, 100.0, 73.0, 22.0 ],
									"text" : "unpack 0 0"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-79",
									"maxclass" : "newobj",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 30.0, 759.0, 79.0, 22.0 ],
									"text" : "s toSTEP400"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-81",
									"maxclass" : "toggle",
									"numinlets" : 1,
									"numoutlets" : 1,
									"outlettype" : [ "int" ],
									"parameter_enable" : 0,
									"patching_rect" : [ 30.0, 589.0, 24.0, 24.0 ]
								}

							}
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								"box" : 								{
									"id" : "obj-72",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 219.0, 524.0, 150.0, 20.0 ],
									"text" : "STOP all motions"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-70",
									"maxclass" : "message",
									"numinlets" : 2,
									"numoutlets" : 1,
									"outlettype" : [ "" ],
									"patching_rect" : [ 139.0, 522.0, 78.0, 22.0 ],
									"text" : "/hardHiZ 255"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-68",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 452.666666666666515, 583.0, 279.0, 20.0 ],
									"text" : "/goToDir command can(must) specify the direction."
								}

							}
, 							{
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									"id" : "obj-66",
									"maxclass" : "button",
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									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 490.166666666666515, 603.0, 55.0, 20.0 ],
									"text" : "motor ID"
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							}
, 							{
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									"items" : [ 1, ",", 2, ",", 3, ",", 4, ",", 255 ],
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									"numinlets" : 1,
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									"patching_rect" : [ 458.5, 692.0, 79.0, 22.0 ],
									"text" : "s toSTEP400"
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							}
, 							{
								"box" : 								{
									"id" : "obj-56",
									"maxclass" : "newobj",
									"numinlets" : 4,
									"numoutlets" : 1,
									"outlettype" : [ "" ],
									"patching_rect" : [ 458.5, 660.0, 178.0, 22.0 ],
									"text" : "pack /goToDir 1 0 0"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-48",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 458.5, 720.0, 215.0, 20.0 ],
									"text" : "/goToDir [motorID] [Direction] [position]"
								}

							}
, 							{
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									"id" : "obj-52",
									"maxclass" : "comment",
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									"numoutlets" : 0,
									"patching_rect" : [ 550.166666666666515, 603.0, 56.0, 20.0 ],
									"text" : "Direction"
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, 							{
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									"id" : "obj-53",
									"items" : [ "Reverse", ",", "Forward" ],
									"maxclass" : "umenu",
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									"numoutlets" : 3,
									"outlettype" : [ "int", "", "" ],
									"parameter_enable" : 0,
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									"maxclass" : "newobj",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 452.666666666666515, 542.0, 79.0, 22.0 ],
									"text" : "s toSTEP400"
								}

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, 							{
								"box" : 								{
									"id" : "obj-83",
									"maxclass" : "message",
									"numinlets" : 2,
									"numoutlets" : 1,
									"outlettype" : [ "" ],
									"patching_rect" : [ 545.666666666666515, 492.0, 85.0, 22.0 ],
									"text" : "/goTo 1 25600"
								}

							}
, 							{
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									"id" : "obj-76",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 536.666666666666515, 544.0, 150.0, 20.0 ],
									"text" : "/goTo [motorID] [postion]"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-74",
									"maxclass" : "message",
									"numinlets" : 2,
									"numoutlets" : 1,
									"outlettype" : [ "" ],
									"patching_rect" : [ 452.666666666666515, 492.0, 58.0, 22.0 ],
									"text" : "/goTo 1 0"
								}

							}
, 							{
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									"id" : "obj-45",
									"linecount" : 9,
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 452.666666666666515, 355.0, 461.0, 131.0 ],
									"text" : "/goTo command produces a motion to the target absolute position through the shortest path. Shortest path? The smallest(-2,097,152) and the largest(2,097,151) absolute positions are next door for the driver chip. So the motion which from the extremely small postion to the exteremely large position could be unexpected motion (I don't think that happen often, though.)\n\nThe GoTo command keeps the BUSY flag low until the target position is reached.\nThis command can be given only when the previous motion command has been completed (BUSY flag released)."
								}

							}
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									"maxclass" : "number",
									"numinlets" : 1,
									"numoutlets" : 2,
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									"parameter_enable" : 0,
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									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 66.0, 423.0, 55.0, 20.0 ],
									"text" : "motor ID"
								}

							}
, 							{
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									"id" : "obj-35",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 139.0, 423.0, 41.0, 20.0 ],
									"text" : "step"
								}

							}
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									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 129.0, 489.0, 150.0, 20.0 ],
									"text" : "/move [motorID] [step]"
								}

							}
, 							{
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									"id" : "obj-39",
									"maxclass" : "newobj",
									"numinlets" : 3,
									"numoutlets" : 1,
									"outlettype" : [ "" ],
									"patching_rect" : [ 44.0, 489.0, 84.0, 22.0 ],
									"text" : "pak /move 1 0"
								}

							}
, 							{
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									"id" : "obj-41",
									"maxclass" : "newobj",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 44.0, 522.0, 79.0, 22.0 ],
									"text" : "s toSTEP400"
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, 							{
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									"id" : "obj-42",
									"items" : [ 1, ",", 2, ",", 3, ",", 4, ",", 255 ],
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									"numoutlets" : 3,
									"outlettype" : [ "int", "", "" ],
									"parameter_enable" : 0,
									"patching_rect" : [ 66.0, 448.0, 50.0, 22.0 ]
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, 							{
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									"id" : "obj-24",
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									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 30.0, 355.0, 415.0, 62.0 ],
									"text" : "/move command produce a motion of specified steps.\nThis command keeps the BUSY flag low until the target number of steps is performed. \nThis command can only be performed when the motor is stopped."
								}

							}
, 							{
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									"id" : "obj-23",
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									"numoutlets" : 0,
									"patching_rect" : [ 35.0, 90.0, 457.0, 62.0 ],
									"text" : "/run produces a motion at a specified speed. The speed value shoud be lower than the max speed which specified in /setSpeedProfile command.\nThis command keeps the BUSY flag low until the target speed is reached.\nThis command can be given anytime and is immediately executed."
								}

							}
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									"numoutlets" : 0,
									"patching_rect" : [ 64.0, 156.0, 55.0, 20.0 ],
									"text" : "motor ID"
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									"id" : "obj-18",
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									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 137.0, 156.0, 41.0, 20.0 ],
									"text" : "speed"
								}

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									"id" : "obj-15",
									"maxclass" : "flonum",
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									"parameter_enable" : 0,
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									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 127.0, 222.0, 150.0, 20.0 ],
									"text" : "/run [motorID] [speed]"
								}

							}
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									"id" : "obj-10",
									"maxclass" : "newobj",
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									"numoutlets" : 1,
									"outlettype" : [ "" ],
									"patching_rect" : [ 53.0, 222.0, 75.0, 22.0 ],
									"text" : "pak /run 1 0."
								}

							}
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									"id" : "obj-9",
									"maxclass" : "newobj",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 53.0, 284.0, 79.0, 22.0 ],
									"text" : "s toSTEP400"
								}

							}
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								"box" : 								{
									"id" : "obj-8",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 584.0, 186.0, 55.0, 20.0 ],
									"text" : "motor ID"
								}

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									"id" : "obj-6",
									"maxclass" : "number",
									"numinlets" : 1,
									"numoutlets" : 2,
									"outlettype" : [ "", "bang" ],
									"parameter_enable" : 0,
									"patching_rect" : [ 584.0, 208.0, 50.0, 22.0 ]
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							}
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									"items" : [ 1, ",", 2, ",", 3, ",", 4, ",", 255 ],
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									"numoutlets" : 3,
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									"parameter_enable" : 0,
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							}
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								"box" : 								{
									"id" : "obj-4",
									"maxclass" : "newobj",
									"numinlets" : 1,
									"numoutlets" : 4,
									"outlettype" : [ "int", "float", "float", "float" ],
									"patching_rect" : [ 515.0, 157.0, 97.0, 22.0 ],
									"text" : "unpack 0 0. 0. 0."
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-3",
									"maxclass" : "newobj",
									"numinlets" : 4,
									"numoutlets" : 4,
									"outlettype" : [ "", "", "", "" ],
									"patching_rect" : [ 515.0, 69.0, 213.0, 22.0 ],
									"text" : "route /speedProfile /busy /motorStatus"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-51",
									"maxclass" : "newobj",
									"numinlets" : 0,
									"numoutlets" : 1,
									"outlettype" : [ "" ],
									"patching_rect" : [ 515.0, 37.0, 91.0, 22.0 ],
									"text" : "r fromSTEP400"
								}

							}
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								"box" : 								{
									"id" : "obj-67",
									"maxclass" : "newobj",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 515.0, 281.0, 79.0, 22.0 ],
									"text" : "s toSTEP400"
								}

							}
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								"box" : 								{
									"id" : "obj-49",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 710.5, 281.0, 115.0, 20.0 ],
									"text" : "get a current setting"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-50",
									"maxclass" : "message",
									"numinlets" : 2,
									"numoutlets" : 1,
									"outlettype" : [ "" ],
									"patching_rect" : [ 601.5, 281.0, 107.0, 22.0 ],
									"text" : "/getSpeedProfile 1"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-40",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 536.75, 208.0, 35.0, 20.0 ],
									"text" : "send"
								}

							}
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								"box" : 								{
									"id" : "obj-38",
									"maxclass" : "button",
									"numinlets" : 1,
									"numoutlets" : 1,
									"outlettype" : [ "bang" ],
									"parameter_enable" : 0,
									"patching_rect" : [ 514.75, 206.0, 24.0, 24.0 ]
								}

							}
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									"id" : "obj-34",
									"maxclass" : "newobj",
									"numinlets" : 5,
									"numoutlets" : 1,
									"outlettype" : [ "" ],
									"patching_rect" : [ 515.0, 251.0, 295.0, 22.0 ],
									"text" : "pack /setSpeedProfile 255 200. 200. 600."
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-33",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 791.0, 186.0, 74.0, 20.0 ],
									"text" : "max speed"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-32",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 802.5, 232.0, 57.0, 20.0 ],
									"text" : "[step/s]"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-31",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 722.0, 186.0, 74.0, 20.0 ],
									"text" : "deceleration"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-30",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 733.5, 232.0, 57.0, 20.0 ],
									"text" : "[step/s/s]"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-29",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 663.0, 232.0, 57.0, 20.0 ],
									"text" : "[step/s/s]"
								}

							}
, 							{
								"box" : 								{
									"id" : "obj-27",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 653.0, 186.0, 73.0, 20.0 ],
									"text" : "acceleration"
								}

							}
, 							{
								"box" : 								{
									"format" : 6,
									"id" : "obj-25",
									"maxclass" : "flonum",
									"maximum" : 15610.0,
									"minimum" : 15.25,
									"numinlets" : 1,
									"numoutlets" : 2,
									"outlettype" : [ "", "bang" ],
									"parameter_enable" : 0,
									"patching_rect" : [ 791.0, 208.0, 52.0, 22.0 ]
								}

							}
, 							{
								"box" : 								{
									"format" : 6,
									"id" : "obj-21",
									"maxclass" : "flonum",
									"maximum" : 59590.0,
									"minimum" : 14.550000000000001,
									"numinlets" : 1,
									"numoutlets" : 2,
									"outlettype" : [ "", "bang" ],
									"parameter_enable" : 0,
									"patching_rect" : [ 722.0, 208.0, 50.0, 22.0 ]
								}

							}
, 							{
								"box" : 								{
									"format" : 6,
									"id" : "obj-19",
									"maxclass" : "flonum",
									"maximum" : 59590.0,
									"minimum" : 14.550000000000001,
									"numinlets" : 1,
									"numoutlets" : 2,
									"outlettype" : [ "", "bang" ],
									"parameter_enable" : 0,
									"patching_rect" : [ 653.0, 208.0, 50.0, 22.0 ]
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							}
, 							{
								"box" : 								{
									"id" : "obj-17",
									"maxclass" : "comment",
									"numinlets" : 1,
									"numoutlets" : 0,
									"patching_rect" : [ 617.0, 37.0, 284.0, 20.0 ],
									"text" : "A speed profile will affect most motion commands."
								}

							}
 ],
						"lines" : [ 							{
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									"text" : "Reset ABS_POS register to zero. The zero position is also defined as HOME."
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									"text" : "Get the ABS_POS register, meaning to get the current motor absolute position."
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									"text" : "This command can specify the size of microstep. If we use 1/16 microstep mode, one revolution will be 200x16=3200steps."
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									"text" : "We should make the motor HiZ state in advance."
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									"text" : "same as \"/goTo 1 0\""
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					"text" : "/run command generates a stable speed motion. \n\n<- Try some values. This command will rotate the motor connected to the #1 outlet of STEP400.\n\nIf the motor is not turning or is making noises, some more adjustments is requred.\nWrong motor wire connection is also a possbile reason."
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													"text" : ">> 9"
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													"text" : ">> 3"
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