| 摘要 |
PURPOSE:To lift restrictions on the number of total pulses and to decrease the required number of RAMs per motor by calculating the pulse rates during acceleration and deceleration according to successive approximation equations. CONSTITUTION:Pulse rates are calculated during trapezoidal driving acceleration and deceleration according to equations. In the equations, alphau and alphad represent acceleration and deceleration, Rs represents an initial speed, Rc represents a maximum speed, Re represents a final speed, Pu represents the number of acceleration pulses and Pd represents the number of deceleration pulses. A step motor controller 1 is provided from a host CPU 5 with six driving parameters, i.e., an initial speed, a maximum speed, the number of maximum speed pulses and the number of deceleration pulses, which are stored a RAM 7. An acceleration is then calculated and stored in the RAM 7 and sequential pulses are generated at a rate according to the equations thus driving a step motor 3. This constitution allows generation of trapezoidal driving pulse using minimum number of RAMs per motor and the number is constant irrespective of the driving parameters. |
