NPM PPCI7443, User Manual

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Operation Theorem
Constrains of _7443_p_change() :
1. _7443_p_change() is only applicable on single-axis absolute pre-set
motion, ie, _7443_start_ta_move(), and _7443_start_sa_move() only
2. Position change on deceleration period is not allowed.
3. There must be enough distance between new target position and current
position where _7443_p_change() is executed. Because, PPCI7443
needs enough space to finish deceleration.
For example:
A trapezoidal absolute motion is applied:
_ 7443_start_ta_move(0,10000,0,1000,0.5,1).
It cause axis 0 to move to pulse 10000 position, and the maximum velocity
is 1000 PPS. The necessary number of pulses to decelerate is 0.5*1000*1
= 500.
At position “CurrentPos” the _7443_p_change(0, NewPos) is applied.
Relative Function:
_7443_p_change() : refer to section 6.6
NewPos CurrentPos OK / Error Note
5000 4000 OK
5000 4501 Error
5000 5000 Error
5000 5499 Error
5000 6000 OK Go back
5000 9499 OK Go back
5000 9500 Error
5000 9999 Error