Difference between revisions of "Pulse burst positioning"

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(Created page with "step & direction signals, motor position and move done output as function of time.]] Pulse bu...")
 
m (Text replacement - "\[\[([A-Z]{2,3})\]\]" to "{{param|$1}}")
 
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[[File:Burstpulses2.png|379px|thumb|Illustration of input [[Pulse and direction|step & direction]] signals, motor position and move done output as function of time.]]
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[[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.]]
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Pulse burst positioning means a [[setpoint]] signaling based on [[pulse and direction]] format. In burst mode, [[controller]] need only to generate a burst of pulses with direction signal to drive to begin a motion relative to current position complying with pre-configured acceleration and velocity limits.  
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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.  
  
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;Pulse burst positioning properties
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==Pulse burst positioning properties==
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*Simplicity - easy to understand and implement point-to-point motion control
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*Simplicity - easy to understand and implement point-to-point motion
 +
*No real-time pulse train [[controller]] needed - smooth motion profile is generated inside the drive
 
*Exact - [[setpoint]] signal path is fully digital
 
*Exact - [[setpoint]] signal path is fully digital
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*No real-time [[controller]] needed - smooth trajectory is generated inside the drive
+
*Change setpoint on the fly - not necessary to wait for motion to finish before sending new pulses
  
 
==How to use==
 
==How to use==
 
Pulse burst is the minimalistic yet high performing position setpoint method available. Suitable signal may be generated by various means:
 
Pulse burst is the minimalistic yet high performing position setpoint method available. Suitable signal may be generated by various means:
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*[[PLC]]
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*{{param|PLC}} with at least two digital outputs
 
*A simple timer & counter circuit
 
*A simple timer & counter circuit
 
*Microcontroller [[GPIO]] pin
 
*Microcontroller [[GPIO]] pin
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====Drive parameterization====
 
====Drive parameterization====
 
In [[Argon]] the following configuration enables burst pulse mode:
 
In [[Argon]] the following configuration enables burst pulse mode:
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*Set [[CM]] as Position control
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*Set {{param|CM}} as Position control
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*Set [[CRI]] as Pulse train & direction
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*Set {{param|CRI}} as Pulse train & direction
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*Set [[CAL]] and [[CVL]] to your desired acceleration and velocity values
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*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]]  
 
*Wire J5 connector according to [[Argon_user_guide/J5_connector_electrical_interfacing#Complete_example_with_pulse_.26_direction|this diagram]]  
  
 
====Doing incremental move====
 
====Doing incremental move====
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The C-style code below represents the signaling.
+
The C-style code below generates the signaling.
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<pre>
+
<syntaxhighlight lang="c">
 
void IncrementalMove( int distance )
 
void IncrementalMove( int distance )
 
{
 
{
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     SetDirectionOutputPin(1);
 
     SetDirectionOutputPin(1);
  
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   /* send step pulses to start motion */
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   /* generate step pulses to start motion. quantity of pulses = distance */
 
   for( i=0; i< abs(distance); i++ )
 
   for( i=0; i< abs(distance); i++ )
 
   {
 
   {
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     Delay_ms(0.001);
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     Delay_ms(0.001); /* wait 1 microseconds or more */
 
     SetPulseOutputPin(1);
 
     SetPulseOutputPin(1);
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     Delay_ms(0.001);
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     Delay_ms(0.001); /* wait 1 microseconds or more */
 
     SetPulseOutputPin(0);
 
     SetPulseOutputPin(0);
 
   }
 
   }
−
}</pre>
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}</syntaxhighlight>
  
 
* SetPulseOutputPin sets the digital state of HSIN1 pin on Argon
 
* SetPulseOutputPin sets the digital state of HSIN1 pin on Argon
 
* SetDirectionOutputPin sets the digital state of HSIN2 pin on [[Argon]]
 
* SetDirectionOutputPin sets the digital state of HSIN2 pin on [[Argon]]
 +
 
====Monitoring when motion is complete====
 
====Monitoring when motion is complete====
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<pre>bool WaitForMoveDone( double timeout )
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Returns ''true'' when motion has successfully finished. ''False'' if timeout expired or drive faulted.
 +
<syntaxhighlight lang="c">
 +
bool WaitForMoveDone( double timeout )
 
{
 
{
 
   double waited=0;
 
   double waited=0;
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     if( GetMotionCompletePinState() == true )  
 
     if( GetMotionCompletePinState() == true )  
 
       return true; /* motion is now complete, return true*/
 
       return true; /* motion is now complete, return true*/
 +
 +
    if( GetFaultPinState() == true )
 +
      return false; /* drive is in fault state, return false*/
  
 
     /*motion is not complete, wait some time and poll again*/
 
     /*motion is not complete, wait some time and poll again*/
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     Delay_ms(0.01);
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     Delay_ms(10); /* 0.01 seconds */
 
     waited=waited+0.01;
 
     waited=waited+0.01;
 
   }
 
   }
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   /*return false because timeouted */
 
   /*return false because timeouted */
 
   return false;
 
   return false;
−
}</pre>
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}</syntaxhighlight>
 
*GetMotionCompletePinState reads the GPO1 pin state from [[Argon]]
 
*GetMotionCompletePinState reads the GPO1 pin state from [[Argon]]
 +
*GetFaultPinState reads the GPO3 pin state from [[Argon]]
 +
 
====Usage example====
 
====Usage example====
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<pre>IncrementalMove(500);
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<syntaxhighlight lang="c">
 +
IncrementalMove(500);
 
WaitForMoveDone();
 
WaitForMoveDone();
 
IncrementalMove(1000);
 
IncrementalMove(1000);
 
WaitForMoveDone();
 
WaitForMoveDone();
 
IncrementalMove(-1500);
 
IncrementalMove(-1500);
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WaitForMoveDone();</pre>
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WaitForMoveDone();</syntaxhighlight>
 
[[category:Glossary]]
 
[[category:Glossary]]
 
[[category:Technology]]
 
[[category:Technology]]
 
[[category:Application]]
 
[[category:Application]]

Latest revision as of 19:53, 28 August 2015

Illustration of input 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.

Pulse burst positioning properties[edit | edit source]

  • Simplicity - easy to understand and implement point-to-point motion
  • No real-time pulse train controller needed - smooth motion profile is generated inside the drive
  • Exact - setpoint signal path is fully digital
  • Change setpoint on the fly - not necessary to wait for motion to finish before sending new pulses

How to use[edit | edit source]

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
  • A simple timer & counter circuit
  • Microcontroller GPIO pin
  • Or any programmable device with controllable digital outputs

Practical example[edit | edit source]

Drive parameterization[edit | edit source]

In Argon the following configuration enables burst pulse mode:

  • Set Control modeCM as Position control
  • Set Setpoint inputCRI as Pulse train & direction
  • Set Acceleration limitCAL and Velocity limitCVL to your desired acceleration and velocity values
  • Wire J5 connector according to this diagram

Doing incremental move[edit | edit source]

The C-style code below generates the signaling. 

void IncrementalMove( int distance )
{
  int i;
 
  /* set direction output pin */
  if(distance<0)
    SetDirectionOutputPin(0);
  else 
    SetDirectionOutputPin(1);
 
  /* generate step pulses to start motion. quantity of pulses = distance */
  for( i=0; i< abs(distance); i++ )
  {
    Delay_ms(0.001); /* wait 1 microseconds or more */
    SetPulseOutputPin(1);
    Delay_ms(0.001); /* wait 1 microseconds or more */
    SetPulseOutputPin(0);
  }
}
  • SetPulseOutputPin sets the digital state of HSIN1 pin on Argon
  • SetDirectionOutputPin sets the digital state of HSIN2 pin on Argon

Monitoring when motion is complete[edit | edit source]

Returns true when motion has successfully finished. False if timeout expired or drive faulted. 

bool WaitForMoveDone( double timeout )
{
  double waited=0;
 
  while(waited<timeout)
  {
    if( GetMotionCompletePinState() == true ) 
      return true; /* motion is now complete, return true*/
 
    if( GetFaultPinState() == true ) 
      return false; /* drive is in fault state, return false*/
 
    /*motion is not complete, wait some time and poll again*/
    Delay_ms(10); /* 0.01 seconds */
    waited=waited+0.01;
  }
 
  /*return false because timeouted */
  return false;
}
  • GetMotionCompletePinState reads the GPO1 pin state from Argon
  • GetFaultPinState reads the GPO3 pin state from Argon

Usage example[edit | edit source]

IncrementalMove(500);
WaitForMoveDone();
IncrementalMove(1000);
WaitForMoveDone();
IncrementalMove(-1500);
WaitForMoveDone();
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