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поискавой системы для электроныых деталей |
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поискавой системы для электроныых деталей |
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POWERSTEP01 датащи(PDF) 26 Page - STMicroelectronics |
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POWERSTEP01 датащи(HTML) 26 Page - STMicroelectronics |
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26 / 92 page  Functional description powerSTEP01 26/92 DocID025022 Rev 5 7.7 Motor control commands The powerSTEP01 can accept different types of commands: constant speed commands (Run, GoUntil, ReleaseSW) absolute positioning commands (GoTo, GoTo_DIR, GoHome, GoMark) motion commands (Move) stop commands (SoftStop, HardStop, SoftHiz, HardHiz). For detailed command descriptions refer to Section 11.2 on page 73. 7.7.1 Constant speed commands A constant speed command produces a motion in order to reach and maintain a user- defined target speed starting from the programmed minimum speed (set in the MIN_SPEED register) and with the programmed acceleration/deceleration value (set in the ACC and DEC registers). A new constant speed command can be requested anytime. Figure 9. Constant speed command examples 7.7.2 Positioning commands An absolute positioning command produces a motion in order to reach a user-defined position that is sent to the device together with the command. The position can be reached performing the minimum path (minimum physical distance) or forcing a direction (see Figure 10). Performed motor motion is compliant to programmed speed profile boundaries (acceleration, deceleration, minimum and maximum speed). Note that with some speed profiles or positioning commands, the deceleration phase can start before the maximum speed is reached. AM12856v1 SPD1 SPD2 SPD3 SPD4 Run(SPD2,FW) time Speed (step frequency) Run(SPD3,FW) Run(SPD1,FW) Run(SPD4,BW) Minimum speed Minimum speed |
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