ADLINK Technology AMP-204C, User Manual

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Motion Control Theory 134
AMP-204C / AMP-208C
The setup value of this protection mechanism is to set axis
parameter of slave axis by 1: master axis selected to follow and 2:
two level of position error protection. Start up gantry mode with
APS_start_gear (slave axis ID) after set up is completed. After the
gantry mode is active, only the master axis need to be operated
and the slave axis functions exactly the same as the master axis
does.
4.9.2 High Speed Position Compare Trigger
This controller provides compare trigger with structure as shown in
figure below. Trigger is sent by TRG0 ~3. You can set up two
trigger output formats. The one is pulse output and other is level
toggle output. Length and logic of pulse signal can be adjusted by
embedded PWMn module. The PWM signal can be generated in
two ways. The one is to generate trigger by manual trigger by
calling API. The other is compare trigger that can be further
divided into linear compare and table compare. Any one of these
triggers is acceptable to PWM. Manual trigger and compare trigger
are described in sections below.
Param. No. Define symbol Description
60h (96) PRA_GEAR_MASTER Gear master
63h (99) PRA_GANTRY_PROTECT_1 Gantry mode protection level one
64h (100) PRA_GANTRY_PROTECT_2 Gantry mode protection level two