ADLINK Technology PCI-8366+, User Manual

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Operation Theory 69
be translated into frame data such that the SSCNET board can
understand.
This function takes no parameters.
4.4.4 Start/Stop command
In this section, the following functions are discussed.
start_cont_move(Void)
stop_cont_move(Void)
After building a trajectory by either on-line (start/end motion list) or
off-line (load trajectory file) method, user can call the
start_cont_move() function to perform the continuous motion tra-
jectory.
If the user has program a second trajectory by either on-line (start/
end motion list) or off-line (load trajectory file) method, the previ-
ous trajectory will be erased and cannot be retrieved except to
reconstruct it again. The user must be careful with this, especially
when multiple threading programs are implemented.
For example:
(Suppose both axes 0 & 2 are at position ‘0’)
start_motion_list(2, {0,2} )
add_line_tr_move({100,0}, 0 , 100, 0, 1.0,1.0)
add_dwell(0.5)
add_line_sr_move({60,80}, 0 , 150 , 0 , 0.5 , 0.5
, 0 , 0)
add_dwell(1.0)
add_line_ta_move({320,110}, 80 , 100, 100, 0.5,
0)
end_motion_list()
start_cont_motion() (* motor start moving after
this command*)
4.5 Motion Related IO
In addition to the SSCNet servo motor control capabilities, the
SSCNET board has other I/O functions and can roughly be divided
into 2 categories. They are the motion related I/O’s and the gen-
eral purposed I/O’s. Motion related I/O’s are input and output sig-
nals dedicated to motion. For example: PEL/MEL, position/velocity