UIrobot UIM241 Series, Руководство пользователя

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UI Robot Technology Co. Ltd. M4120170509EN Page 37
UIM241 Miniature Integrated Stepper Motor Controller(
Closed-loop
)
3)
Set deceleration: MDE; Similar to mACC, the deceleration also has two ways to set as
listed below.
Value mode If the DM bit of the Master Configuration Register is clear to zero
(MCFG<DM>=0), then the value of the instruction will be interpreted as the value of the
deceleration rate. The range of the input value is 1 ~ 65,000,000 and unit is
pulse/sec/sec or pulse / square-second.
Period mode If the DM bit of Master Configuration Register is set to one
(MCFG<DM>=1), then the value of the instruction will be interpreted as the period of
the acceleration, or in other words, the time used for motor to decelerate to the desired
speed from current speed. The range of the input value is 1 ~ 60,000 milliseconds, i.e.,
0.001~ 60 seconds.
4)
Set maximum starting speed: MMS
5)
Set maximum cessation speed MMD
6)
Set backlash compensation value: BLC
Max starting speed and max cessation speed has been described in front section. The unit
of MMS and MMD are pps.
Figure7-12: Two modes to Set the of Acceleration Rate
7.9 Enable/disable Advanced Motion Control Module (MCFG)
Advanced Motion Control Module can be enabled or disabled by setting the CM bit of
MCFG (MCFG<10>). Setting the CM bit (MCFG<CM>=1) will enable the module and
clearing the CM bit (MCFG<CM>=0) will disable the advanced motion control module. (For
details of setting, please refer to Section 5.4 Master Configuration Register.) Meanwhile,
the AM and DM bit of MCFG also defines the input methods of acceleration/deceleration.
7.10 Instruction List
The following table shows the instructions mentioned in this chapter, the detail of those
instructions is descriped at the end of the document.
Instruction Description Page
BLC

;
Set backlash compensation value η 58
BLC; Check backlash compensation value 59
MAC

; Set acceleration rate η 67
MAC; Check acceleration rate 68
MDE

;
Set deceleration rate η 72
T
（时间）
Speed
Desired Speed
Max. Start Speed
（
1
）
Acc. Period
（
2
）
Acc. Rate (Slope)
Current Speed