Operation Theorem
•
53
If we want to accelerate Axis 1 of Card2 from 0 to 10000pps in 0.5sec for
Constant Velocity Mode operation. The axis number should be 6. The
code on the program will be:
_8132_v_move(2, 0, 10000, 0.5);
To determine the right card number, Try and Error may be necessary
before application. Motion Creator can be utilized to minimize the search
time.
For applications needed to move many axes simultaneously on multiple
PCI_8132 cards, users should follow the connection diagrams in Section
3.12 to make connections between their CN3 connectors. Several
functions illustrated in Section 6.8 may be useful when writing programs
for such applications.
♦
Relative Function:
_8132_start_move_all(), _8132_move_all(), _8132_wait_for_all(): Refer
to section 6.8
4.6 Change Speed on the Fly
You can change the velocity profile of command pulse ouput during
operation by
_8132_
v_change()
function. This function changes the
maximum velocity setting during operation. However, if you operate under
“Preset Mode” (like start_a_move(),… ), you are not allowed to change the
acceleration parameter during operation because the deceleration point is
pre-determined. But changing the acceleration parameter when operating
under “Constant Velocity Mode” is valid. Changing speed pattern on the fly
is valid no matter what you choose “Trapezoidal Velocity Profile” or
“S-curve Velocity Profile”. Here we use an example of Trapezoidal velocity
profile to illustarte this function.
Example: There are 3 speed change sensor during an absolute move for
200000 pulses. Initial maximum speed is 10000pps. Change to 25000pps
if Sensor 1 is touched. Change to 50000pps if Sensor 2 is touched.
Change to 100000pps if Sensor 3 is touched. Then the code for this
application and the resulting velocity profiles are shown below.
User must set
_
8132
_fix_max_speed()
before any PTP motion in order to
get the better performance of speed change. The value in this function is
the possible maximum speed during the PTP motion.