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參數(shù)資料
| 型號： | DK1241A |
| 廠商： | Electronic Theatre Controls, Inc. |
| 英文描述： | Advanced Microstepping Motion Control Chipset |
| 中文描述： | 高級微步運動控制芯片組 |
| 文件頁數(shù)： | 20/60頁 |
| 文件大?。?/td> | 422K |
| 代理商： | DK1241A |
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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
Units
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
usteps
usteps/cycle
usteps/cycle
usteps/cycle2
In the trapezoidal point to point profile mode the host specifies a
destination position, a maximumvelocity, a starting velocity, and an
acceleration. The trajectory is executed by accelerating at the
commanded acceleration, beginning at the starting velocity, to the
maximumvelocity 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 maximumvelocity (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 maximumvelocity 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 maximumvelocity 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 maximumvelocity and the destination position.
Simple trapezoidal mode motion
Vel.
Time
Complex trapezoidal mode motion
change max
velocity
change destination
position
Vel.
Time
Trapezoidal Profile With Non-Zero Starting Velocity
change max
velocity
change destination
position
Vel.
Time
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
Units
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
usteps/cycle
usteps/cycle
usteps/cycle2
*negative numbers using 1/216 scaling are handled no
differently than positive numbers. For example if an
acceration value of -1.95 usteps/cycle2 is desired, -1.95 is
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