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Operation Theorem
#include “pci_8132.h”
_8132
_fix_max_speed(axis,100000);
_8132_start_a_move(axis, 200000.0, 1000, 10000, 0.02);
while(!_8132_motion_done(axis))
{
// Get Sensor’s information from other I/O card
if((Sensor1==High) && (Sensor2==Low) && (Sensor3 == Low))
_8132_v_change(axis, 25000, 0.02);
else if((Sensor1==Low) && (Sensor2==High) && (Sensor3 == Low))
_8132_v_change(axis, 50000, 0.02);
else if((Sensor1==Low) && (Sensor2==Low) && (Sensor3 ==
High))
_8132_v_change(axis, 100000, 0.02);
}
Where the informations of three sensors are acquired from other I/O card.
And the resulting velocity profile from experiment is shown below.
Motor
Sensor 2
Sensor 3
Pos=0
Pos=200000
Moving part
Sensor 1
