NPM PPCI7443, User Manual

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Function Library
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_7443_start_sa_move :
This function causes the axis to accelerate from a starting velocity,
slew at constant velocity, and decelerate to stop at the specified
absolute position
with S-curve profile. The acceleration and
deceleration time is specified independently. It won’t let the program
wait for motion completion but immediately return control to the
program.
_7443_set_move_ratio :
This function configures scale factors for the specified axis. Usually,
the axes only need scale factors if their mechanical resolutions are
different. For example, if the resolution of feedback sensors is two
times resolution of command pulse, then
ratio = 2.
_7443_p_change
This function is used to change target position on the fly. There are
some limitations for this function. Please refer to section 4.6.2 before
use it.
_7443_set_pcs_logic :
This function is used to set the logic of Position Change Signal (pcs).
The PCS share the same pin with SD signal. Only when the SD/PCS
pin was set to PCS by _7443_set_sd_pin, this _7443_set_pcs_logic
function becomes effective.
_7443_set_sd_pin :
This function is used to set the operating mode of SD pin. The SD
pin may be used either as Slow-Down signal input or as Position
Change Signal (PCS) input. Please refer to section 4.3.1
_7443_backlash_comp :
Whenever direction change is occurred, The PPCI7443 outputs
backlash corrective pulses before sending commands. This function
is used set the compensation pulse numbers.
_7443_suppress_vibration
This function is used to suppress vibration of mechanical system by
outputting single pulse for negative direction and then single pulse
for positive direction right after completion of command movement.
(+) Direction
(-) Direction
Final Pulse
T1
T2
T1/2
T2/2