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參數(shù)資料
| 型號： | LM629 |
| 廠商： | National Semiconductor Corporation |
| 英文描述： | Precision Motion Controller |
| 中文描述： | 精密運動控制器 |
| 文件頁數(shù)： | 15/24頁 |
| 文件大?。?/td> | 630K |
| 代理商： | LM629 |
Filter Control Commands
(Continued)
Executable During Motion: Yes
The UDF command is used to update the filter parameters,
the specifics of which have been programmed via the LFIL
command. Any or all parameters (derivative-term sampling
interval, kp, ki, kd, and/or il) may be changed by the appro-
priate command(s), but command UDF must be executed to
affect the change in filter tuning. Filter updating is synchro-
nized with the calculations to eliminate erratic or spurious
behavior.
Trajectory Control Commands
The following two LM628 user commands are used for set-
ting the trajectory control parameters (position, velocity, ac-
celeration), mode of operation (position or velocity), and di-
rection (velocity mode only) as required to describe a
desired motion or to select the mode of a manually directed
stop, and to control the timing of these system changes.
LTRJ COMMAND: Load TRaJectory Parameters
Command Code:
Data Bytes:
Data Ranges…
Trajectory Control
Word:
Position:
Velocity:
1F Hex
Two to Fourteen
See Text
C0000000 to 3FFFFFFF Hex
00000000 to 3FFFFFFF Hex
(Pos Only)
00000000 to 3FFFFFFF Hex
(Pos Only)
Acceleration:
Executable During
Motion:
Conditionally, See Text
TABLE 5. Derivative-Term Sampling Interval Selection Codes
Bit Position
Selected Derivative
Sampling Interval
256 μs
512 μs
768 μs
1024 μs, etc…
15
0
0
0
0
14
0
0
0
0
13
0
0
0
0
12
0
0
0
0
11
0
0
0
0
10
0
0
0
0
9
0
0
1
1
8
0
1
0
1
thru
1
1
1
1
1
1
1
1
65,536 μs
Note 8:
Sampling intervals shown are when using an 8.0 MHz clock. The 256 corresponds to 2048/8 MHz; sample intervals must be scaled for other clock frequen-
cies.
The trajectory control parameters which are written to the
LM628 to control motion are: acceleration, velocity, and po-
sition. In addition, indications as to whether these three pa-
rameters are to be considered as absolute or relative inputs,
selection of velocity mode and direction, and manual stop-
ping mode selection and execution are programmable via
this command. After writing the command code, the first two
data bytes that are written specify which parameter(s) is/are
being changed. The first byte written is the more significant.
Thus the two data bytes constitute a trajectory control word
that informs the LM628 as to the nature and number of any
following data bytes. See Table 6
TABLE 6. Trajectory Control Word Bit Allocation
Bit Position
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Function
Not Used
Not Used
Not Used
Forward Direction (Velocity Mode Only)
Velocity Mode
Stop Smoothly (Decelerate as
Programmed)
Stop Abruptly (Maximum Deceleration)
Turn Off Motor (Output Zero Drive)
Not Used
Not Used
Bit 9
Bit 8
Bit 7
Bit 6
Bit Position
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Bit 12 determines the motor direction when in the velocity
mode.Alogic one indicates forward direction. This bit has no
effect when in position mode.
Bit 11 determines whether the LM628 operates in velocity
mode (Bit 11 logic one) or position mode (Bit 11 logic zero).
Bits 8 through 10 are used to select the method of manually
stopping the motor. These bits are not provided for one to
merely specify the desired mode of stopping, in position
mode operations, normal stopping is always smooth and oc-
curs automatically at the end of the specified trajectory. Un-
der exceptional circumstances it may be desired to manually
intervene with the trajectory generation process to affect a
premature stop. In velocity mode operations, however, the
normal means of stopping isvia bits 8 through 10 (usually bit
10). Bit 8 is set to logic one to stop the motor by turning off
motor drive output (outputting the appropriate offset-binary
code to apply zero drive to the motor); bit 9 is set to one to
stop the motor abruptly (at maximum available acceleration,
by setting the target position equal to the current position);
and bit 10 is set to one to stop the motor smoothly by using
Function
Acceleration Will Be Loaded
Acceleration Data Is Relative
Velocity Will Be Loaded
Velocity Data Is Relative
Position Will Be Loaded
Position Data Is Relative
L
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相關代理商/技術參數(shù) |
參數(shù)描述 |
|---|---|
| LM629M-6 | 功能描述:馬達/運動/點火控制器和驅動器 RoHS:否 制造商:STMicroelectronics 產(chǎn)品:Stepper Motor Controllers / Drivers 類型:2 Phase Stepper Motor Driver 工作電源電壓:8 V to 45 V 電源電流:0.5 mA 工作溫度:- 25 C to + 125 C 安裝風格:SMD/SMT 封裝 / 箱體:HTSSOP-28 封裝:Tube |
| LM629M-6 | 制造商:Texas Instruments 功能描述:MOTION CONTROL SMD SOIC24 629 |
| LM629M-6/NOPB | 功能描述:馬達/運動/點火控制器和驅動器 PRECISION MOTION CONTROLLER RoHS:否 制造商:STMicroelectronics 產(chǎn)品:Stepper Motor Controllers / Drivers 類型:2 Phase Stepper Motor Driver 工作電源電壓:8 V to 45 V 電源電流:0.5 mA 工作溫度:- 25 C to + 125 C 安裝風格:SMD/SMT 封裝 / 箱體:HTSSOP-28 封裝:Tube |
| LM629M-8 | 功能描述:馬達/運動/點火控制器和驅動器 RoHS:否 制造商:STMicroelectronics 產(chǎn)品:Stepper Motor Controllers / Drivers 類型:2 Phase Stepper Motor Driver 工作電源電壓:8 V to 45 V 電源電流:0.5 mA 工作溫度:- 25 C to + 125 C 安裝風格:SMD/SMT 封裝 / 箱體:HTSSOP-28 封裝:Tube |
| LM629M-8 | 制造商:Texas Instruments 功能描述:MOTION CONTROL SMD SOIC24 629 |
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