NPM PPCI7443, User Manual

Page: 91 / 183

Operation Theorem
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83
It cause axis 0 to move for 10000 pulse, and the maximum velocity is 1000
PPS.
At 5000 pulse the _7443_v_change(0,NewVel,Tacc) is applied.
Necessary remaining pulses NewVel
(PPS) Tacc
(Sec) Acceleration Deceleration Total OK /
Error
5000 0.1 300 313 613 OK
5000 1 3000 3125 6125 Error
10000 0.1 550 556 1106 OK
50000 0.1 2550 2551 5101 Error
1. User must set the maximum velocity by _7443
_fix_speed_range()
so that the _7443_v_change() could work correctly. If not, the
MaxVel
set by _7443_v_move() or _7443_start_ta_move()
becomes automatically the maximum velocity which
_7443_v_change() could not exceed.
2. _7443_v_change() during acceleration or deceleration period is not
suggested. Though it does work in most cases, the acceleration
and deceleration time is not guaranteed.
Example:
There are 3 speed change sensors during an absolute move for 200000
pulses. Initial maximum speed is 10000pps. Change to 25000pps if Sensor
1 is touched. Change to 50000pps if Sensor 2 is touched. Change to
max_vel
max_vel
Not Suggested
max_vel
With fix_speed_range
Not Suggested
max_ vel
Without fix speed range