Impulse PCW-5181 user manual Formulas

Appendix B - Impulse Advanced Programming

Stored Move Profile #1 - #7 for Move Type, Move Distance, Deceleration Distance

Description: Determines Move Profiles #1 through #7 (move type, move acceleration and deceleration distances) for the internal move engine as selected by the move selection inputs or over RS232/485.

Parameters	Parameter	Parameter Description	Default Value
& Defaults
	StMvMT	Move Type/Acceleration Ratio	0 (0h)
	StMvMDH	Move Distance Upper Word (Steps)	0 (0h)
	StMvMDL	Move Distance Lower Word (Steps)	0 (0h)
	StMvADH	Acceleration Distance Upper Word	0 (0h)
	StMvADL	Acceleration Distance Lower Word	0 (0h)
	StMvDDH	Deceleration Distance Upper Word	0 (0h)
	StMvDDL	Deceleration Distance Lower Word	0 (0h)

Formulas

Parameter

Formula

Incremental Moves

StMvMT = 0

Homing Moves

StMvMT = -1

Absolute Moves







Decel RPS

2







StMvMT =

INT 





(32767 ) + 0.5



+ 1



  (Accel RPS

2

+ Decel RPS

2

)









All Moves

StMvMDx = Move Distance Steps



(Move Velocity RPS )2



StMvADx = 

(2)(Move Accelerati on RPS 2 )(Step Resolution )



(Move Velocity RPS )2



Index

StMvDDx =



(2)(Move Decelerati on RPS 2 )(Step Resolution )

Index (XX)

Parameter Description

68

Stored Move Profile #1

69

Stored Move Profile #2

70

Stored Move Profile #3

71

Stored Move Profile #4

72

Stored Move Profile #5

73

Stored Move Profile #6

74

Stored Move Profile #7

Transmission Frame

Unit Address

XX (see Mem.

StMvMT

StMvMT

StMvDH

StMvDH

SDtMvDL

SDtMvDL

Map Index)

LSB

MSB

LSB

MSB

LSB

MSB

StMvADH

StMvADH

StMvADL

StMvADL

StMvDDH

StMvDDH

StMvDDL

StMvDDL

LSB

MSB

LSB

MSB

LSB

MSB

LSB

MSB

CkSum

LSB

CkSum

MSB

B-7