Product specifications
R01AN0168ED0101 Rev. 01.01 32
Application Note
Chapter 6 Performing Movements
(3) Acceleration Limit, Deceleration Limit PALn, PDLn
If acceleration or deceleration of the motor would become larger than these
limits, acceleration or deceleration is set to these values. After a new speed
has been calculated, the algorithm determines the corresponding acceleration/
decelerations and by case, it limits the speed, so that the acceleration and
deceleration limits cannot be crossed.
• Unit: Acceleration: Microsteps *
(from the physics: distance / time
2
) (CM Update Frequency)
2
• Example settings: 0x00000020
(using an update period GUD of 10 ms) 1250 microsteps / second
2
(for low precision setting) 9.77 turns / s
2
(4) Maximum Speed PMSn
If the speed of a motor would becomer larger than this limit, either positive or
negative, the speed is limited to this value. The speed limit works
independently of the acceleration limit.
• Unit: Speed: Microsteps *
(from the physics: distance / time) (CM Update Frequency)
• Example setting: 0x000009C0
(using an update period GUD of 10 ms) 975 microsteps / second
(for low precision setting) 7.62 turns / second
(5) Hysteresis Correction PHCn
Position values of VAPn, which are less than the given hysteresis by PHCn will
be indicated to software as “zero” position, when software reads the current
position via the
VVPn variable. Also, VVPn always indicates a position which is
by
PHCn less than VAPn. Like this, the variable VVPn can be used by software
as a dynamically compressed readout of the actual position.
• Unit: Distance
• Example setting: 0x00000700
(indicated as still at zero)
+
/- 7 turns of the motor
(6) Speed Thresholds PS1n, PS2n, PS3n, PS4n
Speed marks for switching of the VSPn flag, which dynamically switches the
PWM tables for low-speed and high-speed operation of the motor. While
PS3n
and PS4n are marking a speed range for the high-speed operation, the values
of
PS1n and PS2n are marking the outside ranges for the low-speed
operation. See
6.1.4 “Algorithm Code” for details on these thresholds.
• Unit: Speed: Microsteps *
(from the physics: distance / time) (CM Update Frequency)
• Example settings: PS1 = 0x0000010E
PS2 = 0x00000620
PS3 = 0x000001C3
PS4 = 0x0000056B
(calculate speed in the same way as for 4 “Maximum Speed PMSn”).