NPM PPCI7443, User Manual

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Operation Theorem
4.1.9 Continuous motion
The PPCI7443 allow user to perform continuous motion. Both single axis
movement (section 4.1.3: Trapezoidal, section 4.1.4: S-curve) and multi-
axis interpolation (4.1.5: linear interpolation, 4.1.6: circular interpolation) can
be extended to be continuous motion.
For example, if user calls the follow function to perform a single axis preset
motion:
_7443_start_ta_move(0,50000.0,100.0,30000.0,0.1,0.0)
It will cause the axis “0” to move to position “50000.0”, before the axis
arrives, user can call a second pressed motion:
_7443_start_tr_move(0,20000.0,100.0,30000.0,0.0,0.2)
The second function call won’t affect the first one, actually it will be
executed and write into the pre-register in PPCI7443. After the first move is
finished, PPCI7443 will continue the second move according to the pre-
register value. So, no time interval exists between these two moves. And
pulses will be continuously generated at the instant of position “50000.0”
The working theory of continuous motion is described below:
working theory of continuous motion
The following diagram shows the register data flow of PPCI7443.
Running
Register Pre-reg
1
Pre-reg
2
Pre-register empty
interrupt
Host
Program
Next Command
loading