NPM PPCI7443, User Manual

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•
Operation Theorem
Step 6: call the 4
th
motion function.
Step 7: Wait for INT(if under DOS) / EVENT(if under Windows) of pre-
register empty.
Step 8: call the 5
th
motion function.
(Repeat 7 , 8 ……continue…..)
Step n: Call the last motion function and wait for all moves completion.
(note: Another way to detect completion of motion is by poling. User may
constantly check the buffer status by _7443_check_continuous_buffer().)
Restrictions of continuous motion
The statements below are restrictions and suggestions for continuous
motion:
1. While Pre-register is not empty, user may not execute any more motion.
Otherwise, the new one will overwrite the previous in pre-register2.
2. To get a continuity of velocity between 2 motions, the end velocity of
previous and starting velocity of next must be the same. There are
several methods to achieve this. The easiest way is to set the
deceleration/acceleration time to be ‘0’.
For example :
1
st
motion: _7443_start_tr_move_XY(0,1000,0,0,5000,0.2, 0.0)
(Start a relative 2-axis linear interpolation, x distance=1000, y
distance= 0 , start vel = 0, max vel = 5000, Tacc = 0.2, Tdec = 0)
2
nd
motion: _7443_start_r_arc_xy(0,0,500,500,500,1,5000);
(Start a relative 2-axis circular interpolation, center x distance=0,
center y distance= 500 , End x distance = 500, end y distance =
500. max vel = 5000. It is a quarter ccw circle, with velocity = 5000 )
3
rd
motion: _7443_start_tr_move_XY(0,0,1000,0,5000,0.0, 0.2)
(Start a relative 2-axis linear interpolation, x distance=0, y
distance= 1000 , start vel = 0, max vel = 5000, Tacc = 0.0,Tdec = 0)