How Does It Work?

Monitoring Axis Position

The module has four LDT inputs. You configure each axis for an LDT

with a Pulse Width Modulated output (DPM) or a Start/Stop output

(RPM) by changing axis configuration parameters.

Controlling Axis Output

The module is a targeting controller: every two milliseconds its microprocessor

updates TARGET POSITION and target SPEED values. For

point-to-point moves, TARGET POSITIONS are generated so that

resulting speed, accelerations, and decelerations follow either a

trapezoidal or s-curve profile.

The MODE, ACCELERATION, DECELERATION, SPEED, and

COMMAND VALUE (requested position) are used to generate the

profile. You send these command words to the module through the

processor’s output image table. You may change them “on-the-fly“

while the axis is moving.

The module compares ACTUAL POSITION with TARGET POSITION to

determine position error. Every update, it uses the position error to adjust

drive output. PID gains are adjustable and can be applied selectively.