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PC33991DH/R2 Datasheet(PDF) 23 Page - Motorola, Inc |
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PC33991DH/R2 Datasheet(HTML) 23 Page - Motorola, Inc |
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23 / 36 page  MOTOROLA ANALOG INTEGRATED CIRCUIT DEVICE DATA 33991 23 and solving for v in terms of u, s and t gives: Thecorrect valueof t to use in this equation is the quantized value obtained above. From these equations, a set of recursive equations can be generated to give the allowed time step between motor indexes when the motor is accelerating from a stop to its maximum velocity. Starting from a position p of 0, and a velocity v of 0, these equations define the time interval between steps at each position. To drive the motor at maximum performance, index commands are given to the motor at these intervals. A table is generated giving the time step ∆t at an index position n. , where indicates rounding up. Note: pn =n This means: on the nth step, the motor has indexed by n positions, and has been accelerating steadily at the maximum allowed rate. This is critical because, it also indicates the minimum distance the motor must travel while decelerating to a stop. In other words, the stopping distance is also equal to the current value of n. The algorithm to drive the motor is similar to: • While the motor is stopped, wait until a command is received. • Send index pulses to the motor at an ever-increasing rate, according to the time steps in the table above until: • The maximum velocity is reached, at this point the time intervals stop decreasing or, • The distance remaining to travel is less than the current index in the table. At this point, the stopping distance is equal to the remaining distance, ensuring it will stop at the required position, the motor must begin decelerating. An example of the table for a particular motor is provided in Table 14. This motor’s maximum speed is 4800 microsteps/s (at 12 microsteps/degree), and its maximum acceleration is 54000 microsteps/s². The table is quantized to a 1 MHz clock. u t v − = 2 0 0 0 0 = = v p + + − = ∆ − − a a v v t n n n 2 2 1 1 1 2 − − ∆ = n n n v t v n p n = Table 14. Velocity Ramp Velocity Position Time Between Steps ( µs) Velocity ( µSteps/s) Velocity Position Time Between Steps ( µs) Velocity ( µSteps/s) Velocity Position Time Between Steps ( µs) Velocity ( µSteps/s) 0 0 0.00 72 363 2771.81 144 255 3931.78 1 16383 122.08 73 360 2791.22 145 255 3945.49 2 6086 350.58 74 358 2810.50 146 254 3959.15 3 2521 480.52 75 355 2829.65 147 253 3972.77 4 1935 582.15 76 353 2848.67 148 252 3986.34 5 1631 668.51 77 351 2867.56 149 251 3999.86 6 1437 744.92 78 348 2886.33 150 250 4013.34 7 1299 814.19 79 346 2904.98 151 249 4026.77 8 1195 878.01 80 344 2923.51 152 249 4040.16 9 1112 937.50 81 342 2941.92 153 248 4053.51 10 1045 993.43 82 340 2960.22 154 247 4066.81 11 988 1046.38 83 338 2978.41 155 246 4080.06 12 940 1096.77 84 336 2996.48 156 245 4093.28 13 898 1144.95 85 334 3014.45 157 245 4106.45 14 861 1191.18 86 332 3032.31 158 244 4119.58 Freescale Semiconductor, Inc. For More Information On This Product, Go to: www.freescale.com |
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