Nova Electronics MCX514, Руководство пользователя

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7.5 Driving Commands
Driving commands include the commands for drive pulse output for each axis and other related commands. After the command
code is written with axis assignment in command register WR0, the command will be executed immediately.
In driving, the n-DRV bit of main status register RR0 becomes 1. When the driving is finished, n-DRV bit will return to 0.
If nINPOS input signal for a servo driver is enabled, the n-DRV bit of main status register RR0 will not return to 0 until nINPOS
signal is on its active level after the driving is finished.
[Note]
•
It requires 125 nSEC (maximum) to access the command code when CLK = 16MHz. Please write the next command
after this period of time.
7.5.1 Relative Position Driving
Code Command
５０ h Relative position driving
The signed drive pulse number that is set will be output from the + direction drive pulse signal (nPP) or the – direction drive pulse
signal (nPM). When the drive pulse number is positive, it will be output from the output signal nPP, and when it is negative, it will
be output from the output signal nPM. (When the pulse output type is independent 2-pulse)
In driving, when one pulse of + direction drive pulses is output, the logical position counter will count up 1, and when one pulse of
– direction drive pulses is output, the logical position counter will count down 1.
Before writing the driving command, the user should set the parameters for the outputting speed curve and the drive pulse number
appropriately (see the table below).
○：
Required
Parameter
Speed curve to be output
Fixed speed Symmetrical linear
acceleration/
deceleration
Non-symmetrical
linear acceleration
/deceleration
Symmetrical
S-curve
acceleration
/deceleration
Non-symmetrical
S-curve
acceleration
/deceleration
Jerk (JK)
○ ○
Deceleration increasing
rate (DJ)
○
Acceleration (AC)
○ ○ ○
*
○
*
Deceleration (DC)
○ ○
*
Initial speed (SV)
○ ○ ○ ○ ○
Drive speed (DV)
○ ○ ○ ○ ○
Drive pulse number /
Finish point (TP)
○ ○ ○ ○ ○
Manual deceleration point
(DP)
○
*Note: Set the maximum value of 536,870,911
（
1FFF FFFFh
）
. However, in Partial S-curve acceleration / deceleration driving, set
the acceleration / deceleration at the linear acceleration / deceleration part.