ADLINK AMP-208C - Manual (Page 150)

Motion Control Theory 136
AMP-204C / AMP-208C
See APS Library operation manual for details on compare trigger
relevant parameter list. Set up parameter APIs as described below
APS_set_trigger_param ();
APS_get_trigger_param ();
You may select either encoder counter or internal timer as the
source of compare device. Relevant APIs are described below:
APS_get_timer_counter (); // read timer counter
APS_get_timer_counter (); // set up timer counter
4.9.2.1 Manual Trigger
Use APS_set_trigger_manual () API to output pulse signal. Please
set up TRG with manual trigger source. See below for one
operation example:
4.9.2.2 Compare Trigger
Compare trigger is a trigger generated when source value of
comparator (CMP) matches with the value to be compared. There
are two kinds of comparators, the one is the encoder counters
(0~7) of each axis and the other is the timer. There are two
compare methods too, linear compare trigger and table compare
trigger. Operation rules and methods of both triggers are
described below.
4.9.2.2.1 Linear Compare Trigger
You may need to define the subject to be compared, encoder
counter or timer, before using the linear comparator. Then set up
start point, repeat times and interval. The setup method, in terms
of a position-time chart, is described below. Here P1 is the start
point, repeat times is 4, interval is L, P1~P4 are four compare
points separated by space I. When the motor move pass each
compare points the TRG send pulse signals in sequence. The
compare direction is determined by positive or negative value of
interval. Linear compare trigger can have compare speed up to
1MHz and integral times of 32 bit comparable points.
NO Define Description
0x10~0x13 TGR_TRGx_SRC
Set up TRG0~3 trigger source. You can
have multiple sources to choose.