E1 Series Servo Drive User Manual Application Function
8-76 HIWIN MIKROSYSTEM CORP.
Note:
(1) Position trigger function is still effective after the motor is disabled.
(2) After position trigger function is disabled, if you would like to execute this function again, set
X_PT_Enable to 1.
Example
Homing must be completed before using position trigger function. The motor must be installed with
digital encoder. In this example, we assume the encoder resolution is 1 count = 1 um. The electronic
gear ratio is 1:1. The output position of the first position trigger pulse is 25 mm. Then one position
trigger pulse will be output every 1 mm. Use default setting for the polarity of pulse (Signal output is
low level.) The width of pulse is 2.0 us. The output position of the last position trigger pulse is 100
mm. The PDL program codes are as below.
_SetPT:
Pt230 = 25000; // Start position of position trigger function
Pt231 = 1000; // Output interval of position trigger function
Pt232 = 100000; // Stop position of position trigger function
Pt233 = 100; // Output pulse width of position trigger function
X_PT_Enable = 1; // Execute position trigger function
ret;
Note:
(1) Set Pt230 to 25000 to output the first pulse at the start position of position trigger function.
(2) Pulse may not be output at the stop position of position trigger function. Pulse will only be output as start
position + intervals = stop position (Pt232).
(3) The direction of position trigger function depends on the settings of Pt230 and Pt232. In this example,
Pt230 < Pt232, so one pulse will be output every 1 mm in positive direction. If Pt230 > Pt232, one pulse
will be output every 1 mm in negative direction.
(4) There is a limitation between motor velocity and output interval. In this example, the update frequency of
E1 series servo drive is 16 KHz. The required pulse interval is 1 mm and the motor velocity must not
exceed 16000 (mm/s). The calculation is as below:
The maximum motor velocity < Pulse output interval (Pt231) x Position update frequency
= 1 (mm) x 16 K (1/s) = 16000 (mm/s)
The limitation between the motor velocity and output interval depends on the position update frequency
(program interruption frequency). The time that the motor moves to the next output position cannot be
smaller than the position update frequency. Therefore, the smaller the output interval is, the stricter the
limit on motor velocity is. The maximum velocities for different output intervals of E1 series servo drive
are listed in table 8.13.8.
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