iR-PU01-P
15
when receiving a velocity command for a velocity slower than the initial speed. This
can reduce resonance at low speeds. The following diagram shows how velocity
changes when V-bias is used.
Homing
7.6
The module provides 37 homing modes designed according to CiA402. The homing
modes include: proximity sensors, index, positive and negative limits.
Synchronized Motion (Gear / MPG)
7.7
Synchronized motion control is achieved by specifying the ratio between the master
axis (Pulse Input) and the slave axis (Pulse Output). Manual Pulse Generator (MPG) is
one of the applications.
Digital Cam Switch
7.8
This feature simulates mechanical cam switch using digital method, which allows
settings that can by realized easier in this manner. Each track corresponds to one
iR-PU01-P output point. Users can add multiple switches (16 in maximum) to a track,
with each switch specifies different position and direction, in order to plan the
distance and time output by a point. The position source can be a commanded
position (1
st
axis) or an actual position (2
nd
axis), and ratio can be configured
respectively for each axis.
