STEPPER MOTOR (SM) TPU Function
●The stepper motor control function (SM) accelerates and decelerates a stepper motor linearly. Up to 14step rates can be used. SM allows a stepper motor to rotate continuously or be used for discrete positioning. The CPU provides the desired step position in a 16-bit parameter, and the TPU steps the motor to the desired position using an acceleration/deceleration profile. The parameter indicating the desired position can be changed by the CPU while the TPU is stepping the motor. The algorithm can change control strategy each time a new step command is received.
●A 16-bit parameter initialized by the CPU for each channel defines the output state of the pin. The bit pattern written by the CPU defines the method of stepping, such as full stepping or half stepping. With each transition, the 16-bit parameter rotates one bit. The period of each transition is defined by the programmed step rate.
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User's Guide |
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Please see the document for details |
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English Chinese Chinese and English Japanese |
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2006/7/13 |
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TPUPN13/D |
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606 KB |
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