User's Manual

I-8091 User Manual Version 1.0 06/2001
http://www.icpdas.com 2-21 ICPDAS
Restriction:
1 254
1 200
1 200
2047
≤≤
≤≤
≤≤
≤≤
DDA cycle
Acc Dec
Low Speed
Low Speed High Speed
_
_
_
__
Low_Speed >= Acc_Dec
default value
DDA_cycle = 10
Acc_Dec = 1
Low_Speed = 10
High_Speed = 100
Example:
i8091_SET_VAR(1, 5, 2, 10, 150);
where
DDA_cycle = 5 --> DDA period = (5+1)*1.024ms = 6.144ms
Acc_Dec = 2 --> Acc/Dec speed = 2/(6.144ms)^2 = 52981 p/s^2
Low_Speed = 10 --> low speed = 10/6.144ms = 1628pps
High_Speed = 150 --> high speed = 150/6.144ms = 24414pps
(4) i8091_SET_DEFDIR(unsigned char cardNo,
unsigned char defdirX,
unsigned char defdirY)
Sometimes, the output direction of X-axis, Y-axis is undesired
direction due to the motor’s connection or gear train. In oder to unify the
output direction as shown in Fig.(5) and Fig.(6). Where CW/FW direction is
defined as toward outside from motor, CCW/BW direction is defined as
toward inside from motor. i8091_SET_DEFDIR( ) command provide
parameters to define the rotating direction of motor.
cardNo : board number 0~19.
defdirX : X axis direction definition
defdirY : Y axis direction definition
0 : NORMAL_DIR