JVL MIS17 Series User Manual page 155

6.4
As an alternative to the previous illustration the full control can be done by the master
by setting the velocity and acceleration registers to a significant higher value than the
equivalent value of the clock source which will assure that the motor follows each clock
with a very narrow timing and no delays.
This solution must be used if the master that produces the clocks do generate the full
motion profile with acceleration to a desired top speed and make sure to decelerate and
hit target.
Relation between input and the motor behaviour when setting the
velocity and acceleration registers to
Motion speed and acceleration/deceleration
Input clock
In total 80 steps received
Input Velocity
Motor Velocity
Motor steps(counts)
In total 80 steps moved
Motor Direction
Input position
Motor position
1 The master that produce the input clock to the motor takes care of producing
acceleration. Since the acceleration register in the motor is set to a high value
it will not limit the demanded acceleration.
2 Similar as during acceleration the velocity register have been set to a high
value and do not cause any limitation of what is demanded from the master
producing the input clocks.
Same relation as during acceleration. The motor will reach target (80 counts)
3
exactly without any overshoot or time delay compared to the master position.
TT2469-01GB
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Gear Mode
Acc. and vel. envelope = much larger than source
(Master)
(Slave)
1
0
CW
CCW
(Master)
(Slave)
1
0
high values.
controlled by the master
2
2
Minimum
position error
only and not the motor .
1 step
Velocity
3
1 step
Position
Target
3
Time
155