Direction Control And Position Counter - UIrobot UIM241 Series User Manual

UIM241 Miniature Integrated Stepper Motor Controller(
Figure7-10: S-curve Relative Displacement Control (case 2)
Speed
Uniform
Acceleration
All the acceleration/deceleration methods may be applied in the S-curve displacement
control, including linear acceleration/deceleration and non-linear acceleration/deceleration
which is not described in the above figures though. Please note that for the non-linear
acceleration/deceleration, as there are knee points in its trajectory, is not suitable for
applications requiring motion smoothness. In this case, user can set the maximum start
speed and
acceleration/deceleration. This process is shown is figure 7-11.
Figure7-11: S-curve Displacement Control
Speed
Max. Start Speed
Angular
Displacement
Stop Position
Start Position

7.6 Direction Control and Position Counter

When the user enables the advanced motion control module, the actual motor direction is
controlled by the module. This is because if the user input commands a motion direction
different from the current motion direction, the desired direction cannot be executed
immediately.
UIM241 has two types of position counters: absolute position counter and displacement
counter.
UI Robot Technology Co. Ltd.
Uniform
Deceleration
maximum cessation
Uniform Accelaration
Trajectory
Knee point
M4120170509EN
Desired Speed
speed at zero
Desired Speed
Closed-loop
T（Time）
to disable non-linear
Uniform Deceleration
Max. Cessation Speed
T（Time）
Knee point
T（Time）
)
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