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The contents of a position counter and a difference counter are compared to control stepping of a motor and to detect a final position.
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Final Position Detection For Stepper Motor Control
The contents of a position counter and a difference counter are compared to
control stepping of a motor and to detect a final position.
Both counters are decremented upon each position (P) detection during a
stepping of the motor. The position counter is set with the length (1) of a desired
move at the beginning of the move. Thus, at any time, the contents of the
position counter are 1-(sigma)P. The difference counter contents are equal to
the difference between the motor's electrical and mechanical positions. This
difference is tracked by incrementing the difference counter upon each input
switch (SW) pulse by the number (n) of positions a switch pulse advances the
motor. Switch pulses are input to the motor for changing phases. The contents
of the difference counter at any time are thus n sigma SW-sigma P. Prior to the
input of a correct number of switch pulses, 1 greater than n sigma SW. Upon
input of a switch pulse resulting in 1=n sigma SW indicating a comparison, the
further input of switch pulses is terminated.
From the above, there is in essence a comparison of 1 and n sigma SW to
detect a final position.