4 . P o s i t i o n i n g U n i ts
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4-23
When b[0] is triggered and START ON, the 1
st
positioning program will start to
execute. The number of motion steps and speed are determined by P(I) and V(I).
y
The relative coordinate positioning is determined by the sign bit of the control
register for P(I).
y
The absolute coordinate positioning is determined by P(I) (set in CR#23, #24).
Running forward when the absolute coordinate is bigger than the current position;
running reverse when the absolute coordinate is smaller than the current position.
y
The operation speed will be stable from V
BIAS
accelerating to the expected V(I).
When the speed is approaching the P(I) value set in the control register, the MC01
position control module will start to decelerate to V
BIAS
and stop.
y
The control registers involved: CR#8, #9 (V
BIAS
), CR#25, #26 (V(I)), CR#6, #7
(V
MAX
), CR#23, #24 (P(I)), CR#21 (T
ACC
), and CR#22 (T
DEC
).
Speed
T
ACC
T
DEC
V
MAX
Time
V
BIAS
Start
V(I)
P(I)
2.
CR#32_b1: interrupt single-speed positioning operation
When b[1] is triggered and START ON, the MC01 module will start to send out
pulses. When the external DOG signal is executed, the P(I) value will be reloaded.
y
The relative coordinate positioning is determined by the sign bit of the control
register for P(I).
y
The absolute coordinate positioning is determined by P(I) (set in CR#23, #24).
Running forward when the absolute coordinate is bigger than the current position;
running reverse when the absolute coordinate is smaller than the current position.
y
The operation speed will be stable from V
BIAS
accelerating to the expected V(I).
When encountering DOG signals during the pulse output, the MC01 module will
send out the number of steps in P(I). When the speed is approaching the P(I)
value set in the control register, the MC01 module will start to decelerate to V
BIAS
and stop.
y
The control registers involved: CR#8, #9 (V
BIAS
), CR#25, #26 (V(I)), CR#6, #7
(V
MAX
), CR#23, #24 (P(I)), CR#21 (T
ACC
), and CR#22 (T
DEC
).
