ADLINK Technology AMP-204C, User Manual

Page: 159 / 193

Motion Control Theory 145
AMP-204C / AMP-208C
4.9.3.5 VAO Parameter Table
The VAO parameter table helps you in determining settings for
control modes and VAO table. See table below on definitons of
VAO parameters.
4.9.3.6 Digital Output and Relevant PWM Function
The VAO module features one special function to turn on or off the
PWM with digital output control. It turns on or off the PWM signal
output by working together with the point table's control options.
Please use the board parameters to set up relations between
PWM and digital outputs before using this function as shown in
figure below. Here DO0~7 indicates digital output. Take example.
If PWM 0 is set to DO2 and logic to 1, then PWM 0 starts output
when DO2 changes from low to high and stops output vice versa.
On the contrary, the PWM 0 starts output when DO2 changes from
high to low when the logic is set to 0. Please note that if pairing
relation is set before VAO module's PWM output opening, the
NO Define Description Value Default:
0x00 + (2 * N)
Note:
N is TableNo,
range is 0 ~ 7. VAO_TABLE_OUTPUT_TYPE Table output
type
1: PWM mode
2: PWM frequency
mode
with fixed width
3. PWM frequency
mode
with fixed duty
cycle 1
0x01 + (2 * N)
Note:
N is TableNo,
range is 0 ~ 7. VAO_TABLE_INPUT _TYPE Table input
type 0: Feedback
speed
1: Command
speed 0
0x10 + N
Note:
N is TableNo,
range is 0 ~ 7. VAO_TABLE_PWM_Config Configure
PWM
according to
output type a. Mode 1 - set a
fixed frequency
( 3~50M Hz )
b. Mode 2 - set a
fixed Pulse Width
(20~335544300
ns)
c. Mode 3 – set a
fixed duty cycle: N
* 0.05 %. (N: 1 ~
2000) 100
0x20 + N
Note:
N is TableNo,
range is 0 ~ 7. VAO_TABLE_SRC Specify axisID
for VAO
table. Bit0: Axis 0 On
Bit1: Axis 1 On
Bit2: Axis 2 On
Bit3: Axis 3 On 0x01
0x30~ Reserved Reserved Reserved Reserved