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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)： | 24/60頁 |
| 文件大?。?/td> | 422K |
| 代理商： | DK1241A |
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24
STOP
; load (but do not update) a stop command
This sequence will start a homng move which will stop as soon as the
axis encounters the home switch.
As is the case for all of the breakpoint modes, the external breakpoint
can not only be use to stop an ongoing move, but to start or otherwise
modify a move as well. This flexibility makes it well suited for
applications such as cut-on-the-fly where externally-initiated motions
are required.
Disabling Automatic Profile Update
Normally, when a breakpoint condition has been satisfied, it causes the
profile and other double-buffered parameters to be automatically
updated. For certain types of profiles however, it may be desirable to
still use the breakpoint mechanism(to allow it to generate a host
interrupt for example), but not to have the profile update.
Whether the profiles are automatically updated or not for a given axis is
controlled by the commands SET_AUTO_UPDATE_ON and
SET_AUTO_UPDATE_OFF. When auto update is set to on, the
breakpoint/profile mechanismbehaves as described above. When set
to off, upon a breakpoint condition, no profile update will occur. When in
this mode the only way to update the profile is to use the UPDATE
command or the MULTI_UPDATE command.
Travel Limit Switches
The MC1241-series chipsets support motion travel limt switches that
can be used to automatically recognize an "end of travel" condition.
The following figure shows a schematic representation of an axis with
travel-limt switches installed, indicating the "legal" motion area and the
over-travel regions.
Legal travel region
positive
over-travel
region
negative
over-travel
region
positive limit
switch
negative limit
switch
There are two primary services that the MC1241A provides in
connection with the over-travel limt switch inputs:
1)
The host can be automatically notified that an axis has entered
an over-travel condition, allowing the host to take appropriate
special action to manage the over-travel condition.
2)
Upon entering an over-travel condition, the trajectory generator
will automatically be halted, so that the motor does not travel
further into the over travel region.
To recover froman over-travel condition the corresponding status bits
in the status word should be reset (see the section of this manual on
axis status for details on resetting status word bits). Once this has been
performed the host can command a trajectory move to bring the axis
out of the over-travel region.
The over-travel detector is 're-armed' when the axis exits the over travel
condition.
Only one over-travel signal can be processed at a time. For
example if the negative over travel switch becomes active, the
corresponding status bits must be cleared, and the axis moved
into the legal travel range before a positive over travel switch will
be recognized.
Axis Timing
Each axis of the MC1241-series chipsets receives a "time slice" of the
available computation power of the CP chip. The amount of time
required for the chipset to performone complete pass of calculations for
all of the axes is known as the chipset cycle time. This chipset cycle
time is important to the host processor because it determnes the rate at
which profile trajectories are updated.
The cycle time is the same for all MC1241-series chipsets. The cycle
time value is 540 uSec* All velocities, accelerations, and jerk values
are related to this cycle time via the various trajectory generator modes
that generate axis motion.
*exact cycle time is 542.72 uSec, 540 is an approximation.
For example, to determne the velocity of a given axis in units of
steps/second, we use the conversion ration 1 sec = 1,851 cycles (1,851
cycles/sec = 1 cycle every 540 uSec). Therefore if the desired
maximumvelocity to be provided to the chipset is (for example) 12,345
usteps/sec we convert to units of usteps/cycle by dividing by 1,851,
giving a value of 6.669. The value we send to the chipset using the
SET_VEL command (see host command section for details) would be
65,536 times this amount since the velocity parameter uses 1/216
scaling. Therefore we would send a value of 437,083 to the chipset.
As an additional example, to determne the acceleration of a given axis
in units of usteps/second2, we again use the conversion ration 1 sec =
1,851 cycles, however we must take into account the conversion to
cycles2 (not cycles). Therefore if the desired acceleration to be
provided to the chipset is (for example) 67,890 usteps/sec2 we convert
to units of usteps/cycle2 by dividing by 1,8512 (or 3,426,201), giving a
value of .0019815. The value we send to the chipset using the
SET_ACC command (or SET_MAX_ACC command if we are in S-
curve mode) would be 65,536 times this amount since this parameter
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