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PC104

Navigator®-PC/104 User’s Guide

PMD 

1

Installation

The following table summarizes what is required for each motor type. Note that the step numbers

reference specific steps that are detailed in the next section. Perform only the setup step sequences for

the card/motor type installed in your system.

Motor type

DC brush

Brushless DC

Microstepping

step motor

Pulse and direction

step motor

Step #

1

4

6

1

2

3

4

6

1

5

6

6

Operation

Set amplifier type (PWM sign/mag, PWM 50/50, DAC)

Set filter parameters

Make a trajectory move

Set amplifier type (PWM 50/50, DAC)

Initialize commutation

Check commutation

Set filter parameters

Make a trajectory move

Set amplifier type (PWM 50/50, DAC)

Set the motor output power

Make a trajectory move

Make a trajectory move

It is assumed that you will initialize each axis of your system one at a time. This being the case, after

executing Pro-Motion, type one of the axis setting commands (#axis 1, #axis 2, #axis 3, or #axis 4)

in the command window and go through the whole initialization for that axis. To initialize other

axes, enter a new axis number and initialize that axis entirely, etc.

For example, if you want to exercise axis #1 you would type in the command #Axis 1. All subsequent

commands will now be directed to axis 1. This would be followed by an <ENTER> to process the

command. Upon successfully accepting this command Pro-Motion will return a prompt “>”. If there is

some problem with the command, Pro-Motion will indicate the nature of the error, followed with a

“>” prompt.

For more information on Pro-Motion, refer to section 3, Using Pro-Motion, page 35.

1.10.1 Step #1: Set the Motor Amplifier Type

The motion processor must be told what type of motor output mode to use, PWM sign/mag, PWM

50/50, or DAC. This can be set using the command SetOutputMode followed by the output mode; 0

for DAC, 1 for PWM sign/mag, and 2 for PWM 50/50. For example, to specify the output mode as

PWM 50/50 the command SetOutputMode 2 would be typed in.

If the output mode is set to DAC, the DAC outputs need to be enabled as they are disabled after a hard

reset. The command WriteIO 0x8080 enables the DAC output.

If we want to describe the 0x8080 parameter, bit 7 is the DAC enable bit state and bit 15 is the change

mask for the DAC enable bit.

16

Navigator-PC/104 User’s Guide

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