4 . P o s i t i o n i n g U n i ts
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4-25
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
accelerate/decelerate again from V(I) to V(II) and operate at V(II) stably. In the 2
nd
positioning program, the external STOP input will force the MC01 module to
immediately stop the pulse output.
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#27, #28 (P(II)), CR#21 (T
ACC
), and CR#22 (T
DEC
).
Speed
T
ACC
T
DEC
V
MAX
Time
V
BIAS
Start
DOG
V(I)
V(II)
P(II)
Speed
T
ACC
T
DEC
V
MAX
Time
V
BIAS
Start
V(I)
V(II)
P(II)
DOG
The output accelerates to V(I) and operates at V(I) stably until it reaches P(I). After
the external DOG signal is enabled, the output will then accelerate or decelerate to
V(II) and operates at V(II) stably until it reaches P(II) and stops.
5.
CR#32_b4: variable speed operation
When b[4] is triggered and START ON, the MC01 module will start to operate at
variable speed V(I) and send out pulses.
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).
