| 摘要 |
The invention is a method of controlling a microstepping motor. The method begins with the initialization of a logic circuit in accordance with the requirements of a profile/index bit generated by a microcontroller. An initial stage is established for the logic circuit and determining whether or not to run the motor in stand-alone or pulse controlled mode. The logic initial stage comprises the initialization of a set of one or more data registers; configuration of interrupts and input/output ports; and, the setting of timer prescales. The method next performs a logic sequence to a motor use profile, a system profile, and a program flow. After completion of the logic sequence, the method performs a step sequence to establish the timing pattern of electrical impulses to be directed to one or more integrated circuits. A predetermined acceleration table is established in a program memory having a set of delay constants, wherein the set of delay constants contain the timing sequences for each step in the motor use profile. The acceleration table is then accessed so as to implement acceleration. The logic circuit returns a delay constant from the acceleration table and places a set of data relative to the delay constant in one or more registers for use by the step sequencing routine. The sequencing step comprises the further step of delivering a timing sequence to the integrated circuit wherein the sequence is further comprised of a set of interrupt service routines, corresponding to a state of the motion profile. Each one of the interrupt service routines reloads a timer with a next delay constant and sends the next delay constant to the integrated circuit before updating the step count.
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