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A read only memory can be more efficiently utilized and a stepper motor can be better controlled by separately storing and addressing acceleration and deceleration tables.
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Table Splitting for Stepper Motor Control
A read only memory can be more efficiently utilized and a stepper motor can
be better controlled by separately storing and addressing acceleration and
Present tables include target switching times which represent time delays for
phase advancing. The same tables are used for both acceleration and
deceleration. The time delays are large at the lower portion of the table and
gradually become smaller as an address counter is advanced or bumped. The
result is low velocity at the bottom of the table and high velocity at the top of the
table. The profile speed of the motor is determined by changing the counter
If one half of the read only memory table is dedicated to acceleration and the
other half is dedicated to deceleration, ideal profiles can be obtained for both
acceleration and deceleration. As illustrated, the beginning address for all
advances is 00000. The counter is bumped to a new address for accelerating
the motor, depending on the desired switching times. When deceleration is
necessary, the deceleration half of the table is enabled by the 54 line. As the
motor approaches a detent position, the counter is decremented until the last
value 10000 is reached. Profiles for both acceleration and deceleration can be
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