Basic terminology

Control axis (Main axis)
The controlled motor, that is called the "control axis" (servo motors, such as stepping motor), will separately represent the control subjects (for example, a motor of the spindle rotation).
When indicated the control axis, called X, Y, Z, and the like U. (There is also a case that has been referred to as First axis, the second axis..., or CH1, CH2 ···) 

Independent axis control
It is the general name of the mode that works without any relationship between the axes. There are various operation such as Positioning, homing, continuous feed, timer action (DWELL).

Continuous feed
Without specifying the stop position, it is the operation to indicate only velocity. Stop by a stop command.

Positioning control
Targeting the position control without regarding the pathway. Specified coordinates are independent for each axis, and to be set it to each axis.

Interpolation control
This is a control in which the target is moved to the target position while drawing a desired profile. Moving velocity is controlled the contour speed (linear speed, synthesis rate) to be constant. Velocity specification will be set as linear velocity regardless of the number of axes. 
In one set of circular interpolation or linear interpolation, the closest to the X-axis is called the interpolation representative axis.

Interpolation representative axis
In one set of circular interpolation or linear interpolation, the closest to the X-axis.

Main axis,Slave axis
In one set of axes of interpolation, the axis that has maximum amount of travel distance within the interpolation axis referred to as the main axis. The other axis is called slave axis. 

Relative coordinate
The coordinate values of the target position, as viewed from their relative origin, that is what the current point was considered as a temporary origin.
All feeding coordinates are described as a relative coordinate in CPD.

Distance unit, velocity unit
Distance units , that is coordinate value is expressed as [pulse], the velocity is expressed as [pulse/sec], ie [PPS]. 

Operation speed

The velocity of operations, such as positioning, interpolation, homing, continuous feed, are collectively referred to as "operation speed", and the value of the FH register (RFH) is to be the operation speed.

Base speed
Base speed is defined by the FL register (RFL), at a time of the booted-up this will reach the defined base speed directly from the stop state. At the time of stop,  operation will be immediately stopped from this speed. Acceleration of operation will be performed when operation speed is designated more than this base speed, deceleration will be terminated when the operating speed is equal to or less than the base speed.

Auxiliary speed
In some of the homing operation, this will be used as the speed at the rushing into origin.
Or used when backlash correction, slip correction operation.
Its pattern is described as below

 Speed pattern Diagram (example of a linear acceleration and deceleration)

Speed override
During operation, by performing a speed data writing on the FH register, to make changes in the operating speed.

Axis Sensors
An example of linear motion by a motor is shown in Figure. In the Figure, "+ ELS, -ELS, DLS, OLS" is called as axis sensor.

Limit sensor (stroke End-Limit Sensor) will be placed at both ends of the shaft (axis). 
When the ELS in the direction of movement detects the carriage, the board will stop the command pulse output immediately, or slow down the command pulse output. In the detection state of ELS, the movement can be only available in the opposite direction of ELS. Plus or Minus is consistent with the direction of the coordinates. It can also serve the ELS as the origin sensor. 

It plays a function of the origin sensor and the deceleration sensor at a time of high speed homing. Whether of the function to use depends on the selection of the homing method.

DLS is a deceleration sensor at a time of homing, in the CPD board this will be used OLS as a function of the deceleration sensor.

It will be used in case that the Z-phase signal of the encoder (ENC) is used as the origin. 
Z signal for the first time after arriving to start the deceleration by OLS is designated as the origin. 

Command pulse
It refers to the output to the motor driver. Command pulse train signal is given to the servo driver or pulse motor driver. 
Command one pulse makes motor to rotate one step angle of the moto in the pulse motor. In the servo motor, it makes the position detector (usually referring to encoder built into) to rotate the one pulse. Thus, the "command pulse" 1 pulse represents position (travel distance), "command pulse frequency" will be rotation speed.

Motor driver
Motor drivers that has  the pulse train input format can be connected to the board. Therefore, servo motor, linear motor or a pulse motor, will be all the control target.

Position override
This changes the target position during operation. There are three types of position overriding:
When you enter data and change the target position to a position farther than the original position during acceleration/deceleration, the carriage maintains the current speed and completes the positioning on the new target.
When you enter data and change the target position to a position farther than the original position during deceleration, the carriage re-accelerates to the operation speed from the current position and completes the positioning on the new target. This re-acceleration does not occur if the remaining travel distance is short.
If the carriage already passed the newly set target position, or if the carriage has decelerated and the new target position is closer to the origin than the original target position, it reverses the direction and positions itself on the new target.

PCS "Positioning management start signal" input
From the point that PCS signal is input during continuous feed, the positioning which travels with the amount of previously set in advance will start. It is also possible by the "PCS command" instead of PCS signal.

Backlash correct / Slip correct
A pre-set correction pulse is inserted when a carriage changes its moving direction. This operation is called a backlash correct. 
A pre-set correction pulse is inserted before a command operation regardless of the moving direction of the carriage. This operation is called slip correct.

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