NPM PPCI7443, User Manual

Page: 65 / 183

Operation Theorem
•
57
Explanation of example:
While these three motions were executed sequentially without waiting, the
1
st
occupies the Rigister and is executed instantly; the 2
nd
occupies Pre-
Rigister 1and is waiting for completion of 1
st
; the 3
rd
occupies Pre-Rigister 2
and is waiting for completion of 2
nd
. Since the 1
st
motion has a ‘0’
deceleration time and 2
nd
is a arc of constant velocity, which is the as the
max vel of the 1
st
, the PPCI7443 will output constant frequency at
intersection between them.
1. Continuous motion between different axes is meaningless, for different
axis get its own register and pre-register system.
2. Continuous motion between different number of axes is not allowed, for
example: _7443_start_tr_move() can not be followed by
_7443_start_ta_move_XY() , vice versa, because these two functions
belong to single axis and 2-axis mode individually.
3. It is possible to perform 3 axes or 4 axes continuous linear interpolation,
but the speed continuity is impossible to achieve.
4. If any absolute mode is used during continuous motion, make sure that
the _7443_reset_target_pos() is executed at least once after home
move.(please refer to 4.1.8: Home return mode)
Dist = 1000
Dist = 1000
R = 500
(1)
(2)
(3)