ADLINK Technology cPCI-8168, User Manual

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Function Library 115
6.5 Velocity mode motion
@ Name
_8168_tv_move
– Accelerate an axis to a constant velocity with
trapezoidal profile
_8168_sv_move
– Accelerate an axis to a constant velocity with
S-curve profile
_8168_v_change
– Change speed on the fly
_8168_sd_stop
– Decelerate to stop
_8168_emg_stop
– Immediately stop
_8168_fix_speed_range
– Define the speed range
_8168_unfix_speed_range
– Release the speed range con-
strain
_8168_get_current_speed
– Get current speed
@ Description
_8168_tv_move
:
This function is to accelerate an axis to the specified constant
velocity with trapezoidal profile. The axis will continue to travel at a
constant velocity until the velocity is changed or the axis is com-
manded to stop. The direction is determined by the sign of velocity
parameter.
_8168_sv_move
:
This function is to accelerate an axis to the specified constant
velocity with S-curve profile. The axis will continue to travel at a
constant velocity until the velocity is changed or the axis is com-
manded to stop. The direction is determined by the sign of velocity
parameter.
_8168_v_change
:
This function changes the moving velocity according to the trape-
zoidal profile or S-curve profile. Before calling this function, it is
necessary to define the speed range by _8168_fix_speed_range.
The velocity change is only valid inside the range.