ADLINK Technology cPCI-8168, Руководство пользователя

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Operation Theory 77
4.7 Other Motion Functions
Described in the following sections are the many other functions
included with the cPCI-8168 motion controller.
4.7.1 Backlash compensation and slip corrections
The motion controller has backlash and slip correction functions.
These functions output the number of command pulses in FA
speed. The backlash compensation is performed each time when
the direction changes on operation. The slip correction function is
performed before a motion command, regardless of the direction.
The correction amount of pulses can be set by the function library.
4.7.2 Vibration restriction function
The vibration restriction function adds one pulse in the reverse
direction and then one pulse in the forward direction shortly after
completing a motion command. The timing of these two dummy
pulses are shown below: (RT is reverse time and FT is forward
time)