Editing Pulse burst positioning

[[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. 

==Pulse burst positioning properties==
*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==
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===
====Drive parameterization====
In [[Argon]] the following configuration enables burst pulse mode:
*Set [[CM]] as Position control
*Set [[CRI]] as Pulse train & direction
*Set [[CAL]] and [[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]] 

====Doing incremental move====
The C-style code below generates the signaling.
<syntaxhighlight lang="c">
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);
  }
}</syntaxhighlight>

* 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====
Returns ''true'' when motion has successfully finished. ''False'' if timeout expired or drive faulted. 
<syntaxhighlight lang="c">
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;
}</syntaxhighlight>
*GetMotionCompletePinState reads the GPO1 pin state from [[Argon]]
*GetFaultPinState reads the GPO3 pin state from [[Argon]]

====Usage example====
<syntaxhighlight lang="c">
IncrementalMove(500);
WaitForMoveDone();
IncrementalMove(1000);
WaitForMoveDone();
IncrementalMove(-1500);
WaitForMoveDone();</syntaxhighlight>