Pulse burst positioning - Revision history

Tero K: Text replacement - "\[\[([A-Z]{2,3})\]\]" to "{{param|$1}}"

2015-08-28T19:53:02Z

Text replacement - "\[\[([A-Z]{2,3})\]\]" to "{{param|$1}}"

2014-02-12T23:13:54Z

‎How to use

2014-02-11T22:43:35Z

2013-12-12T13:25:34Z

‎Doing incremental move

2013-12-12T13:25:05Z

‎Doing incremental move

2013-12-12T13:24:50Z

‎Monitoring when motion is complete

2013-12-12T13:24:06Z

‎Doing incremental move

2013-12-12T13:18:53Z

‎Monitoring when motion is complete

2013-12-12T13:18:32Z

‎Monitoring when motion is complete

2013-12-12T13:16:34Z

@@ Line 10: / Line 10: @@
 ==How to use==
 Pulse burst is the minimalistic yet high performing position setpoint method available. Suitable signal may be generated by various means:
-*[[PLC]] with at least two digital outputs
+*{{param|PLC}} with at least two digital outputs
 *A simple timer & counter circuit
 *Microcontroller [[GPIO]] pin
@@ Line 17: / Line 17: @@
 ====Drive parameterization====
 In [[Argon]] the following configuration enables burst pulse mode:
-*Set [[CM]] as Position control
+*Set {{param|CM}} as Position control
-*Set [[CRI]] as Pulse train & direction
+*Set {{param|CRI}} as Pulse train & direction
-*Set [[CAL]] and [[CVL]] to your desired acceleration and velocity values
+*Set {{param|CAL}} and {{param|CVL}} to your desired acceleration and velocity values
 *Wire J5 connector according to [[Argon_user_guide/J5_connector_electrical_interfacing#Complete_example_with_pulse_.26_direction|this diagram]]

@@ Line 10: / Line 10: @@
 ==How to use==
 Pulse burst is the minimalistic yet high performing position setpoint method available. Suitable signal may be generated by various means:
-*[[PLC]]
+*[[PLC]] with at least two digital outputs
 *A simple timer & counter circuit
 *Microcontroller [[GPIO]] pin

@@ Line 24: / Line 24: @@
 ====Doing incremental move====
 The C-style code below generates the signaling.
-<pre>
+<syntaxhighlight lang="c">
 void IncrementalMove( int distance )
+{
@@ Line 43: / Line 43: @@
      SetPulseOutputPin(0);
+   }
-}</pre>
+}</syntaxhighlight>
 * SetPulseOutputPin sets the digital state of HSIN1 pin on Argon
@@ Line 50: / Line 50: @@
 ====Monitoring when motion is complete====
 Returns ''true'' when motion has successfully finished. ''False'' if timeout expired or drive faulted.
-<pre>bool WaitForMoveDone( double timeout )
+<syntaxhighlight lang="c">
+{
    double waited=0;
@@ Line 69: / Line 70: @@
    /*return false because timeouted */
    return false;
-}</pre>
+}</syntaxhighlight>
 *GetMotionCompletePinState reads the GPO1 pin state from [[Argon]]
 *GetFaultPinState reads the GPO3 pin state from [[Argon]]
 ====Usage example====
-<pre>IncrementalMove(500);
+<syntaxhighlight lang="c">
 WaitForMoveDone();
 IncrementalMove(1000);
 WaitForMoveDone();
 IncrementalMove(-1500);
-WaitForMoveDone();</pre>
+WaitForMoveDone();</syntaxhighlight>
 [[category:Glossary]]
 [[category:Technology]]
 [[category:Application]]

@@ Line 38: / Line 38: @@
    for( i=0; i< abs(distance); i++ )
+   {
-     Delay_ms(0.001); /* 1 microseconds */
+     Delay_ms(0.001); /* wait 1 microseconds or more */
      SetPulseOutputPin(1);
-     Delay_ms(0.001); /* 1 microseconds */
+     Delay_ms(0.001); /* wait 1 microseconds or more */
      SetPulseOutputPin(0);
+   }

@@ Line 38: / Line 38: @@
    for( i=0; i< abs(distance); i++ )
+   {
-     Delay_ms(0.001);
+     Delay_ms(0.001); /* 1 microseconds */
      SetPulseOutputPin(1);
-     Delay_ms(0.001);
+     Delay_ms(0.001); /* 1 microseconds */
      SetPulseOutputPin(0);
+   }

@@ Line 63: / Line 63: @@
      /*motion is not complete, wait some time and poll again*/
-     Delay_ms(0.01);
+     Delay_ms(10); /* 0.01 seconds */
      waited=waited+0.01;
+   }

@@ Line 48: / Line 48: @@
 * SetDirectionOutputPin sets the digital state of HSIN2 pin on [[Argon]]
 ====Monitoring when motion is complete====
 <pre>bool WaitForMoveDone( double timeout )
+{
@@ Line 57: / Line 58: @@
        return true; /* motion is now complete, return true*/
-     /*TODO: poll also other drive status signals here, such as fault output */
+     if( GetFaultPinState() == true )
      /*motion is not complete, wait some time and poll again*/
@@ Line 68: / Line 70: @@
 }</pre>
 *GetMotionCompletePinState reads the GPO1 pin state from [[Argon]]
 ====Usage example====
 <pre>IncrementalMove(500);

@@ Line 1: / Line 1: @@
-[[File:Burstpulses2.png|379px|thumb|Illustration of input [[Pulse and direction|step & direction]] signals, motor position and move done output as function of time.]]
+[[File:Burstpulses2.png|379px|thumb|Illustration of input [[Pulse and direction|step pulse & direction]] signals, motor position and move done output as function of time.]]
 Pulse burst positioning is a [[setpoint]] method based on [[pulse and direction]] signals. In pulse burst mode, [[controller]] need only to generate a burst of pulses with direction signal to begin a motion relative to current position. Motion will comply with pre-configured acceleration and velocity limits of the drive.
@@ Line 35: / Line 35: @@
      SetDirectionOutputPin(1);
-   /* send step pulses to start motion */
+   /* generate step pulses to start motion. quantity of pulses = distance */
    for( i=0; i< abs(distance); i++ )
+   {
@@ Line 56: / Line 56: @@
      if( GetMotionCompletePinState() == true )
        return true; /* motion is now complete, return true*/
      /*motion is not complete, wait some time and poll again*/