ADLINK Technology PCI-8174, Руководство пользователя

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Operation Theory 39
for programmers, mechanical or electrical engineers to find out
problems.
The on board DSP makes the PCI-8174 act as a standalone sys-
tem. Besides accessing motion ASIC via the motion library, it can
be accessed via other means. For example, time-critical motion
sequences (such as position comparing with triggering output,
gantry mode for two axes synchronizing with feedback monitoring,
high speed pick and place sequence and other customized motion
sequences) can be stored into the DSP kernel like. Contact us for
custom DSP kernel support. The default DSP kernel only supports
triggering and gantry functions.
4.2 Motion Control Modes
Motion control makes the motors run according to a specific speed
profile, path trajectory and synchronous condition with other axes.
The following sections describe the motion control modes of this
motion controller could be performed.
4.2.1 Coordinate system
The Cartesian coordinate is used and pulses are in the unit of
length. The physical length depends on mechanical parts and
motor’s resolution. For example, if a motor is on a screw ball, and
the pitch of screw ball is 10mm and the pulses needed for a round
of motor are 10,000 pulses. One pulse’s physical unit is equal to
10mm/10,000p =1 mm.
Just set a command with 15,000 pulses for motion controller if we
want to move 15mm. How about if we want to move 15.0001mm?
Simple! The motion controller will keep the residue value less
than 1 pulse and add it to next command.
The motion controller sends incremental pulses to motor drivers. It
means that we can only send relative command to motor driver.