NPM PPCI7443, Руководство пользователя

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Table of Contents
4.1 M
OTION
C
ONTROL
M
ODES
.......................................................................... 35
4.1.1 Pulse Command Output...................................................................... 36
4.1.2 Velocity mode motion ......................................................................... 39
4.1.3 Trapezoidal Motion Profile ................................................................ 40
4.1.4 S-curve Motion Profile ....................................................................... 42
4.1.5 Linear interpolation for 2~4 axes....................................................... 44
4.1.6 Circular interpolation for 2 axes........................................................ 48
4.1.7 Circular interpolation with Acc/Dec time .......................................... 50
4.1.8 The Relationship between Velocity and Acceleration Time................ 51
4.1.9 Continuous motion ............................................................................. 54
4.1.10 Home Return Mode ............................................................................ 59
4.1.11 Manual Pulser Mode.......................................................................... 67
4.1.12 Timer Mode ........................................................................................ 67
4.1.13 Pulser Interpolation ........................................................................... 68
4.2 T
HE MOTOR DRIVER INTERFACE
................................................................... 69
4.2.1 INP .................................................................................................... 69
4.2.2 ALM................................................................................................... 70
4.2.3 ERC ................................................................................................... 71
4.2.4 SVON and RDY .................................................................................. 71
4.3 T
HE LIMIT SWITCH INTERFACE AND
I/O
STATUS
.................................................. 72
4.3.1 SD/PCS............................................................................................... 72
4.3.2 EL...................................................................................................... 73
4.3.3 ORG .................................................................................................. 73
4.4 T
HE
C
OUNTERS
........................................................................................... 75
4.4.1 Command position counter ................................................................ 75
4.4.2 Feedback position counter ................................................................. 75
4.4.3 Position error counter ........................................................................ 77
4.4.4 General-Purposed counter ................................................................. 77
4.4.5 Target position recorder .................................................................... 79
4.5 M
ULTIPLE
PPCI7443 C
ARDS
O
PERATION
.................................................... 80
4.6 C
HANGE POSITION OR SPEED ON THE FLY
...................................................... 81
4.6.1 Change speed on the fly...................................................................... 81
4.6.2 Change position on the fly.................................................................. 85
4.7 P
OSITION COMPARE AND
L
ATCH
.................................................................. 87
4.7.1 Comparators of PPCI7443................................................................. 87
4.7.2 Position compare................................................................................ 88
4.7.3 Position Latch .................................................................................... 91
4.8 H
ARDWARE BACKLASH COMPENSATOR AND VIBRATION SUPPRESSION
.......... 92
4.9 S
OFTWARE
L
IMIT
F
UNCTION
........................................................................ 93
4.10 I
NTERRUPT
C
ONTROL
.................................................................................. 94
4.11 I
DLING CONTROL
......................................................................................... 99
PPCI7443 UTILITY .............................................................................................. 101
5.1 E
XECUTE
PPCI7443 U
TILITY
.................................................................... 102
5.2 A
BOUT
PPCI7443 U
TILITY
........................................................................ 102
5.3 PPCI7443 U
TILITY
F
ORM
I
NTRODUCING
................................................... 103