6.3 EDH0162En1040 – 06/99
MM4005 4-Axis Motion Controller/Driver
Section 6
Feature Descriptions Tutorial
Synchronizing Events to Motion
6.1.1 Pulses Synchronized to One Axis
Certain applications require an output pulse (≈ 5 µsec) synchronized with
the motion of an axis. This signal is triggered not by a timer but by the
specified axis crossing a pre-defined position. It is available on the
Auxiliary connector (25-pin D-Sub) at pin 11.
Four commands are available to define and use this signal.
xx
PB nn Defining and reading the signal starting position.
xx
PE nn Defining and reading the signal ending position.
xx
PI nn Defining and reading the step of the synchronizing signal.
xx
PS Start the signal generation.
Where:
xx — Axis number (from 1 to 4).
nn — Position (absolute), in displacement units.
The PB, PE and PI commands define the synchronized signal while the PS
initiates it. The best location for the PS command is just before PA or PR.
The signal is terminated at the position indicated by PE or at the end of the
motion when the effect of the PS command is canceled.
The necessary conditions for generating the signal, verified by PS, are:
• The start position defined by PB must be reached before the stop posi-
tion defined by PE.
• The value set with PI must be greater or equal to the smallest servo
step. This is the displacement made by an axis during one servo sam-
pling period: smallest servo step = velocity * T
base
where T
base
= 0.25 or
0.3 msec, depending on the processor. If not, PS will not generate a sig-
nal and will return an error. In this case, the smallest servo step can be
determined by using the command xxPI?. If PS command is executed
successfully, xxPI? will return the previously entered value, not the
smallest servo step.
If any of these conditions is not satisfied, PS command is not executed and
it will return an error code.
NOTE
To know the exact value of the servo sampling period (T
base
) of the con-
troller, send the command SQ0 and the, the command SQ?. The con-
troller will return SQ value. This value will be the exact sampling period
of the controller, in seconds.
6.1
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