ADLINK Technology cPCI-8168, User Manual

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Function Library 119
6.6 Single Axis Position Mode
@ Name
_8168_start_tr_move
– Begin a relative trapezoidal profile
move
_8168_start_ta_move
– Begin an absolute trapezoidal profile
move
_8168_start_sr_move
– Begin a relative S-curve profile move
_8168_start_sa_move
– Begin an absolute S-curve profile
move
_8168_set_move_ratio
–Set the ratio of command pulse and
feedback pulse.
_8168_p_change
– Change position on the fly
_8168_set_pcs_logic
–Set the logic of PCS (Position Change
Signal) pin
_8168_set_sd_pin
–Set SD/PCS pin for first 4 axes of cPCI-
8168
_8168_backlash_comp
– Set backlash compensating pulse for
compensation
_8168_suppress_vibration
– Set vibration suppressing tim-
ing
The moving direction is determined by the sign of
Pos
or
Dist
parameter. If the moving distance is too short to reach the speci-
fied velocity, the controller will automatically lower the MaxVel ,and
the Tacc, Tdec, VSacc, VSdec, will also become shorter while the
dV/dt(acceleration / deceleration) and d(dV/dt)/dt (jerk) keep
unchanged.
@ Description
_8168_start_tr_move
:
This function causes the axis to accelerate from a starting velocity,
slow at constant velocity, and decelerate to a stop at the relative
distance with trapezoidal profile. The acceleration and decelera-
tion time is specified independently. It won’t let the program wait