ADLINK Technology PCI-8254, User Manual

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Motion Control Theory 131
PCI-8254 / PCI-8258
4.7 Point-to-Point Move
4.7.1 Point-to-Point Move
Point-to-Point movement (PTP movement) is to move one axis
from position A to position B at given speed. PTP movement can
be relative or absolute movement based on its given position
parameter.
This controller provides T-curve and S-factor adjustable S-curve.
Each profile contains start velocity, maximum velocity, end
velocity, and acceleration / deceleration parameters that can be
adjusted individually as shown in figure below. See Acceleration /
Deceleration Profile in Section 4.3.3 for detail.
Figure 4-32: T-curve V-T chart
In addition, the APS_motion_status () function can be used to get
motion status data of each axis to identify the end of PTP
movement. See Section 4.9 for description on motion status. You
may use APS_stop_move () or APS_emg_stop () function to abort
in-progress movement.
Time
Acceleration Deceleration
Start velocity
End velocity
Max. velocity
Velocity
Distance