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Chapter 4 Automated Motor Movement 4.3 Channel Management Processing Overview Summarized from the chapters above, the processing of the Channel Management looks like this: Amount of START ZERO events reached Update Timebase On every event for all channels Info Bus Values Enabled in Non-ZPD Mode: New Calculation Movement Calculator Addressing by Microstep, Speed, Direction Regular Data Format CHP, CVP, CQI, IHR, IVR Enabled Channels Address Generation ZERO Enabled in ZPD Mode: One Delay Step Disabled Delay passed ZPD Table Counter Delay CZD New Delay Disabled Channels ZPD Table Counter CZC PWM Value RAM Info Bus Values Addressing by ZPD Table Index ZPD Table Limit CTL ZPD Data Format IHE, IVE, IHD, IVD, ZMT, ZIS Info Bus Value CZD Variable ZPD Step Delay No Processing Figure 4-3 Sequential Processing: Next Channel Channel Management Processing Overview The Info Bus represents all registers, which are accessed by the Channel Managment during its processing. R01AN0168ED0101 Rev. 01.01 Application Note 21
