ADLINK Technology HSL-4XMO, User Manual

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70 Operation Theory
4.11 Change Position Or Speed On The Fly
The HSL-4XMO provides the ability to change position or speed
while an axis is moving. Changing speed/position on the fly means
that the target speed/position can be altered after the motion has
started. However, certain limitations do exist. Carefully study all
constraints before implementing the on-the-fly function.
Change Speed on the Fly
Figure 4-31: Change Speed on the Fly
The change speed on the fly function is applicable on single axis
motion only. Both velocity mode motion and position mode motion
are acceptable. The graph above shows the basic operating the-
ory.
The following functions are related to changing speed on the fly.
HSL_M_v_change() – change the MaxVel on the fly
HSL_M_cmp_v_change() –change velocity when the
general comparator comes into existence
HSL_M_sd_stop() – slow down to stop
HSL_M_emg_stop() – immediately stop
HSL_M_fix_speed_range() – define the speed range
HSL_M_unfix_speed_range() – release the speed
range constrain