NPM PPCI7443, User Manual

Page: 85 / 183

Operation Theorem
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77
The feedback position counter will be clear to “0” automatically after home
move completed. Besides, the function call, _
7443_set_position(), can be
executed in any time to set an new command position value. To read
current command position: _
7443_get_position().
Relative Function:
_7443_set_pls_iptmode(), _7443_set_feedback_src() :Refer to section 6.4
_7443_set_position(), _7443_get_position(): Refer to section 6.15
_7443_set_home_config(): Refer to section 6.9
4.4.3 Position error counter
The position error counter is used to calculate the error between command
position and feedback position. The working theory is that it adds one count
when PPCI7443 output one pulse and subtracts one count when PPCI7443
receives one pulse (from EA,EB). It is very useful to detect the step-losing
situation (stall) of stepping motors when encoder is applied.
Since the position error counter automatically calculate the difference
between pulse output and pulse feedback, it is inevitable to get error if the
motion ratio is not equal to “1”.
To get the position error, use the function call: _7443_g
et_error_counter().
To reset the position error counter, use the function call:
_7443_res
et_error_counter(). The position error counter will automatically
clear to “0” after home move complete.
Relative Function:
_7443_get_error_counter(),_7443_reset_error_counter() :Refer to section 6.15
4.4.4 General-Purposed counter
The source of general-purposed counter is the most versatile, it could be:
1. Pulse output - just as command position counter
2. Pulse input – just as feedback position counter
3. Manual Pulser input – the default status.
4. Clock – an accurate timer. (9.8 MHz)
The default source of general-purposed counter is manual pulser. (Please
refer to section 4.1.9 for detail explanation of manual pulser) To set other
source, use the function call: _
7443_set_general_counter().To get the
counter value, use the function call: _ 7443_get_general_counter().
Relative Function: