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•Table of Contents
4.1
MOTION CONTROL MODES .......................................................................... 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
THEMOTORDRIVERINTERFACE................................................................... 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 THE 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
THE COUNTERS ........................................................................................... 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
MULTIPLE PPCI7443 CARDS OPERATION .................................................... 80
4.6
CHANGE 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
POSITION COMPARE AND LATCH .................................................................. 87
4.7.1
Comparators of PPCI7443................................................................. 87
4.7.2
Position compare................................................................................ 88
4.7.3
Position Latch .................................................................................... 91
4.8
HARDWARE BACKLASH COMPENSATOR AND VIBRATION SUPPRESSION .......... 92
4.9
SOFTWARE LIMIT FUNCTION........................................................................ 93
4.10
INTERRUPT CONTROL .................................................................................. 94
4.11
IDLING CONTROL ......................................................................................... 99
PPCI7443 UTILITY .............................................................................................. 101
5.1
EXECUTE PPCI7443 UTILITY .................................................................... 102
5.2
ABOUT PPCI7443 UTILITY........................................................................ 102
5.3
PPCI7443 UTILITY FORM INTRODUCING ................................................... 103
