R01AN0168ED0101 Rev. 01.01 22

Application Note

Chapter 5 Looking into the PWM and ZPD Tables

5.1 Virtual Channels

As the PWM Value RAM is a lookup-table, it can also perform an abstraction of

a physical channel (where the motor is attached to a port) into a logical or

“virtual” channel.

Figure 5-1 PWM Value RAM Layout

The application can define a virtual channel number CCTn for each physical

channel

n. This means, when addressing the content of channel n, not n, but

CCTn instead is used for the addressing of the RAM. Like this, it is possible to

have the same table for several channels, so that only a part of the RAM needs

to be defined.

This virtual channel definition is valid for either “regular” PWM operation or

ZPD mode of a channel.

Note If several motors are having the same characteristics, it is recommendable to

use the same virtual channel number for them. Like this, the uploading of data

phase into the RAM during startup can be drastically reduced.

128 Entries

Per

Channel

Type,

2 kBytes

MICROSTEP,

Direction 0,

Speed 0

32 Bits

MICROSTEP,

Direction 1,

Speed 0

MICROSTEP,

Direction 0,

Speed 1

MICROSTEP,

Direction 1,

Speed 1

One Entry

32 Bits

Data of Info Bus, dedicated Format

Channel Type 0

Regular

Channel Type 1

Regular

Channel Type 2

Regular

Channel Type 3

Regular

Ch. Type 0 ZPD

Ch. Type 1 ZPD

Ch. Type 2 ZPD

Ch. Type 3 ZPD

unused

1 kBytes

PWM Value

RAM Tables

Channel Type 4

Regular

Channel Type 5

Regular

512 Entries

32 Bits

Standard

Precision

High

Precision

0000H

07FFH

0800H

0FFFH

1000H

17FFH

1800H

1FFFH

2000H

27FFH

2800H

2FFFH

3000H

31FFH

3200H

33FFH

3400H

35FFH

3600H

37FFH

Ch. Type 4 ZPD

3800H

39FFH

Ch. Type 5 ZPD

3A00H

3BFFH

3C00H

3FFFH

1 2 ... 17 18 19 20 21 22 23 24 25 26 27 ... 51 52

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GV-2 Guv’nor Plus

IMPORTANT Precautions

Clean only with dry cloth

Introduction

Features

Setting Up

Battery Replacement

Technical Specification

Unas palabras

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