Thanks that makes sense ES. The motor will resolve its final position based on commanded number of steps, direction and the encoder feedback. I guess there is probably no need to set an acceleration profile in the computer front end, you just feed the step pulses as fast as the controller can accept. In my case probably only 80 KHz or 160 kHz. So to say it another way the controller uses the constantly arriving step pulses to dynamically set a position to reach and uses the PID algorithm to get there. Is there any type of feedback the controllers and PCs use so that the front end controller will stop sending step pulses until the commanded position is reached?
ie goto x = 3, y = 2 then wait until it gets there before sending x = 4, y = 1
I will read the document you mentioned. |