Product specifications

R01AN0168ED0101 Rev. 01.01 36
Application Note
Chapter 6 Performing Movements
6.2 Moving the Motors
Having all parameters set, the timebases defined and the RAM PWM tables
set up, the motor movement can be started by activating the
Channel
Management
for the selected channels.
Caution When using stepper motor hardware, always enable Recirculation.
Otherwise, caused by the inductive load, damage to the output drivers may
happen.
The following diagram shows a movement graphically, by reading out the
variables by software.
Figure 6-2 Graphical Movement Illustration
Upw ar ds M ove m e nt
0
200000
400000
600000
800000
1000000
1200000
1400000
0
1
00
200 300 400 50
0
6
00
7
00
800 900
1
0
00
1
1
00
12
00
13
00
14
0
0
1500 1600 1
7
00
1
8
00
19
00
20
0
0
CM Update Cycle
Set Position (PMP), Actual Position (VAP)
-1000
0
1000
2000
3000
4000
5000
6000
7000
8000
9000
10000
11000
12000
Acceleration (VAX), Speed (VAS)
PMP
VAP
VAX
VAS