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M4120170509EN
UI Robot Technology Co. Ltd.
UIM24102/04/08-IE
As shown in Figure 6-2, UIM241 controller operates in PT mode automatically on receiving
position instruction such as STP
或者
QEC until an instruction of “STP 0;” is given.
（
STP
is a displacement control instruction. Logically “STP 0;” means no displacement. It is
contradictory to send a displacement instruction of no displacement. Therefore, UIM241
will take this instruction as a request to shift from PT mode to VT mode.
）
In PT mode, the actual speed, direction and desired displacement are related to deviation
of actual displacement. When sign of desired speed and displacement deviation is different,
the actual direction is decided by displacement deviation, while actual speed is set to
absolute value of desired speed. Once deviation of desired and actual displacement is too
small, and the acceleration is also too small, then it may cause the following situation: the
motor has already reached the desired position, but it still has not reached the desired
speed.
