Product specifications

R01AN0168ED0101 Rev. 01.01 22
Application Note
Chapter 5 Looking into the PWM and ZPD Tables
5.1 Virtual Channels
As the PWM Value RAM is a lookup-table, it can also perform an abstraction of
a physical channel (where the motor is attached to a port) into a logical or
“virtual” channel.
Figure 5-1 PWM Value RAM Layout
The application can define a virtual channel number CCTn for each physical
channel
n. This means, when addressing the content of channel n, not n, but
CCTn instead is used for the addressing of the RAM. Like this, it is possible to
have the same table for several channels, so that only a part of the RAM needs
to be defined.
This virtual channel definition is valid for either “regular” PWM operation or
ZPD mode of a channel.
Note If several motors are having the same characteristics, it is recommendable to
use the same virtual channel number for them. Like this, the uploading of data
phase into the RAM during startup can be drastically reduced.
128 Entries
128 Entries
128 Entries
128 Entries
Per
Channel
Type,
2 kBytes
MICROSTEP,
Direction 0,
Speed 0
32 Bits
MICROSTEP,
Direction 1,
Speed 0
MICROSTEP,
Direction 0,
Speed 1
MICROSTEP,
Direction 1,
Speed 1
One Entry
32 Bits
Data of Info Bus, dedicated Format
Channel Type 0
Regular
Channel Type 1
Regular
Channel Type 2
Regular
Channel Type 3
Regular
Ch. Type 0 ZPD
Ch. Type 1 ZPD
Ch. Type 2 ZPD
Ch. Type 3 ZPD
unused
1 kBytes
PWM Value
RAM Tables
Channel Type 4
Regular
Channel Type 5
Regular
512 Entries
32 Bits
Standard
Precision
High
Precision
0000H
07FFH
0800H
0FFFH
1000H
17FFH
1800H
1FFFH
2000H
27FFH
2800H
2FFFH
3000H
31FFH
3200H
33FFH
3400H
35FFH
3600H
37FFH
Ch. Type 4 ZPD
3800H
39FFH
Ch. Type 5 ZPD
3A00H
3BFFH
3C00H
3FFFH