ADLINK Technology cPCI-8168, Руководство пользователя

Страница: 84 / 208

74 Operation Theory
4.5.3 Command and Feedback error counter
The command and feedback error counter is used to calculate the
error between the command position and the feedback position.
The value is calculated by subtracting the feedback position from
the command position.
If the ratio between command and feedback is not 1:1, the error
counter is meaningless.
This counter is a 16-bit binary up/down counter.
4.5.4 General purpose counter
The source of general purpose counter could be any of the follow-
ing:
1. Command position output – the same as a command
position counter
2. Feedback position input – the same as a feedback posi-
tion counter
3. Manual Pulser input – Default setting
4. Clock Ticks – Counter from a timer about 9.8 MHz
4.5.5 Target position recorder
The target position recorder is used during continuous motion to
let the motion controller know the previous motion command’s tar-
get position and the current motion command’s target position in
order to calculate relative pulses of current command then send
results into pre-register. Please check if the target position is the
same with current command position before continuous motion.
Especially after the home function and stop function.