MC1151A Ver la hoja de datos (PDF) - PMD

Número de pieza

componentes Descripción

Fabricante

MC1151A

Advanced Step Motor Control Chipset

PMD 

will occur, and all new parameters will be ignored except the

position. See the section of this manual entitled "Command Error"

for more information..

Before switching to the S-curve point to point profile mode, the

axis should be at a complete rest.

When the axis is in the S-curve profile mode, the SET_MAX_ACC

command should be used to load the max. acceleration value. The

alternate acceleration loading command SET_ACC can not be

used.

Trapezoidal Point to Point

The following table summarizes the host specified profile parameters

for the trapezoidal point to point profile mode:

Profile

Parameter

Destination

Position

Maximum

Velocity

Starting

Velocity

Accel.

Representation & Range

signed 32 bits

-1,073,741,824 to 1,073,741,823

unsigned 32 bits (1/216 scaling)

0 to 1,073,741,823

unsigned 32 bits, (1/216 scaling)

0 to 1,073,741,823

unsigned 32 bits (1/216 scaling)

0 to1,073,741,823

Units

steps

steps/cycle

steps/cycle

steps/cycle2

In the trapezoidal point to point profile mode the host specifies a

destination position, a maximum velocity, a starting velocity, and an

acceleration. The trajectory is executed by accelerating at the

commanded acceleration, beginning at the starting velocity, to the

maximum velocity where it coasts until decelerating such that the

destination position is reached with the axis at rest (zero velocity). If it is

not possible to reach the maximum velocity (because deceleration must

begin) then the velocity profile will have no "coasting" phase. The

acceleration rate is the same as the deceleration rate.

A new maximum velocity and destination position can be specified

while the axis is in motion. When this occurs the axis will accelerate or

decelerate toward the new destination position while attempting to

satisfy the new maximum velocity condition.

Before switching to the Trapezoidal point to point profile mode,

the axis should be at rest.

When in Trapezoidal point to point profile mode, to change the

acceleration, the axis must come to a complete stop. After this has

occurred, a new acceleration value can be loaded. If the

acceleration parameter is changed during motion then a

'command error' will occur, and all updated parameters will be

ignored except the position. See the section entitled 'Axis Status

for more informaton' on command errors.

The Starting Velocity can not be changed while the axis is in

motion.

The following figure shows a velocity profile for a typical point to point

trapezoidal move, along with a more complicated move involving on the

fly changes to the maximum velocity and the destination position.

Vel.

Simple trapezoidal mode motion

Vel.

change max

velocity

change destination

position

Complex trapezoidal mode motion

Vel.

starting

velocity

change destination

position

change max

velocity

Time

Time

Time

Trapezoidal Profile With Non-Zero Starting Velocity

Velocity Contouring

The following table summarizes the host specified profile parameters

for the Velocity contouring profile mode:

Profile

Parameter

Maximum

Velocity

Starting

Velocity

Acceleration

Representation & Range

unsigned 32 bits (1/216 scaling)

0 to 1,073,741,823

unsigned 32 bits, (1/216 scaling)

0 to 1,073,741,823

signed 32 bits* (1/216 scaling)

-1,073,741,824 to 1,073,741,823

Units

steps/cycle

steps/cycle

steps/cycle2

* negative numbers using 1/216 scaling are handled no

differently than positive numbers. For example if an

acceration value of -1.95 steps/cycle2 is desired, -1.95 is

20

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