ADLINK Technology AMP-204C, User Manual

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vi Contents
Definitions to Connector ............................................... 26
P1 Connector: For Connecting to PCI-8254 / PCI-8258 /
AMP-204C / AMP-208C ................................................ 28
S1, S2: EDO/ALM_RST Selection Switch .................... 37
3 Signal Connection ............................................................ 39
3.1 Pulse Command ................................................................ 40
3.2 Encoder Input, EA & EB & EZ............................................ 43
3.3 Emergency Stop Input ....................................................... 45
3.4 PEL/MEL Input................................................................... 46
3.5 ORG Input.......................................................................... 48
3.6 INP Input ............................................................................ 49
3.7 ALM Input .......................................................................... 50
3.8 SVON Output ..................................................................... 51
3.9 Comapre & Trigger Output:................................................ 52
3.10 Digital Output/Input ............................................................ 54
4 Motion Control Theory ..................................................... 59
4.1 Motion Control Mode and Interface Overview.................... 60
4.1.1 Motion Control Interface ........................................... 60
4.1.2 Control Cycle ............................................................ 66
4.2 Motion Control Operations ................................................. 68
4.2.1 Coordinated System ................................................. 68
4.2.2 Unit Factor ................................................................ 69
4.2.3 Acc/Deceleration Profile ........................................... 72
4.3 Home Move........................................................................ 78
4.3.1 OGR Signal Homing - Home Mode = 0 .................... 81
4.3.2 EL Signal Homing - Home Mode 1 ........................... 88
4.3.3 Single EZ Signal Homing.......................................... 91
4.4 Velocity Move..................................................................... 94
4.5 Jog Move ........................................................................... 97
4.6 Point-to-Point Move ......................................................... 101
4.6.1 Point-to-Point Move ................................................ 101