Motion Control Theory
149
AMP-204C / AMP-208C
Table 4-4: Motion kernel signal table
Signal name
Range
Data
type
Descriptions
SAMP_SRC_COM_POS
Axis 0~7
Integer
Position command:
Unit: pulse
SAMP_SRC_FBK_POS
Axis 0~7
Integer
Feedback position
Unit: pulse
SAMP_SRC_CMD_VEL
Axis 0~7
Integer
Command velocity;
Unit: pulse/sec
SAMP_SRC_FBK_VEL
Axis 0~7
Integer
Feedback velocity;
Unit: pulse/sec
SAMP_SRC_MIO
Axis 0~7
Integer
Motion I/O, see Note 1 for its definition.
SAMP_SRC_MSTS
Axis 0~7
Integer
Motion status, see Note 2 for its
definition.
SAMP_SRC_MSTS_ACC
Axis 0~7
Integer
Motion status: Acceleration section
(motion status acc); 0: Null acceleration
1: Current acceleration
SAMP_SRC_MSTS_MV
Axis 0~7
Integer
Motion status: Constant speed section
(motion status at max velocity); 0: No
constant speed 1: Current constant
speed
SAMP_SRC_MSTS_DEC
Axis 0~7
Integer
Motion status: Deceleration section
(motion status DEC); 0: Null
deceleration 1: Current deceleration
SAMP_SRC_MSTS_CSTP
Axis 0~7
Integer
Motion status: The Stop motion
command (motion status CSTP); 0:
During movement 1: Stop the movement
command
SAMP_SRC_MSTS_MDN
Axis 0~7
Integer
Motion status: Movement completed
(motion status MDN); 0: During
movement 1: Movement completed
SAMP_SRC_MIO_INP
Axis 0~7
Integer
Motion status: Movement in-place
(motion status MDN); 0: Movement not
in-place 1: Movement in-place
SAMP_SRC_MIO_ORG
Axis 0~7
Integer
Motion status: ORG signal (motion
status OGR); 0: No ORG signal 1:
Touches ORG signal
SAMP_SRC_CONTROL_VOL
Axis 0~7
Integer
Output voltage (Control command
voltage);
Unit: mV
SAMP_GTY_DEVIATION
Axis 0~7
Integer
Set up feedback offset (gantry deviation)
between given and slave axes in gantry
movement; Unit: pulse
SAMP_SRC_ENCODER_RAW
Axis 0~7
Integer
Drive's feedback position original signal
(Encoder raw data) ;
Unit: pulse
SAMP_SRC_ERR_POS
Axis 0~7
Integer
Error position; Unit: pulse
SAMP_SRC_COM_POS_F64
Axis 0~7
Double
Same as SAMP_SRC_COM_POS but
presented in float point numbers
Summary of Contents for AMP-204C
Page 8: ...viii Contents ...
Page 12: ...xii List of Figures ...
Page 14: ...xiv List of Tables ...
Page 52: ...38 Getting Start with The Installation ...
Page 71: ...Signal Connection 57 AMP 204C AMP 208C Signal connection diagram ...
Page 72: ...58 Signal Connection Figure 3 13 General purpose digital I O signal connection example ...
