ICPDAS
I-8092F Software User Manual
137
i8092_SET_D
Format:
void
i8092_SET_D(
unsigned char
cardNo,
WORD
axis,
WORD
data)
Function:
The function use when acceleration/deceleration is set individually, “D” is the
parameter determining the deceleration of the trapezoidal driving. For S-curve
acceleration / deceleration, the designated deceleration can be set until a specific
value (D) is driving. The deceleration calculation is shown in the following formula:
Driving Deceleration(PPS/Sec)
＝
D×125×M
Parameters:
cardNo
is the board number.
axis
is the motion axis code/name, as shows in Table 2-1.
data
is the value of deceleration, it’s range is 1~8000, other values are invalid.
Example:
//Set the deceleration 80 (PPS/Sec) for X axis.
i8092_SET_D(1, 0x1, 80);
i8092_SET_K
Format:
void
i8092_SET_K(int cardNo,
WORD
axis,
WORD
data)
Function:
The function is setting the value of acceleraton rate (jerk), in a time unit, of S-curve
Acc/Dec motion. The jerk calculation is shown in the following formula:
Jerk (PPS/Sec
2
)
＝
(62.5×10
6
/ K)×M
Parameters:
cardNo
is the board number.
axis
is the motion axis code/name, as shows in Table 2-1.
data
is the value of the acceleration rate, it’s range is 1~65535.
Example:
//Set the jerk 625 (PPS/Sec
2
) for the X axis.
i8092_SET_K(1, 0x1, 625);
Note:
For K=65535 to 1
When Multiple = 1, 954 PPS/SEC2 ~ 62.5 x 106 PPS/SEC2
When Multiple = 500, 477 x 103 PPS/SEC2 ~ 31.25 109 PPS/SEC2
*In this manual, jerk is defined the increasing / decreasing rate of acceleration /
deceleration in a time unit. However, jerk should cover the decreasing rate of acceleration
and increasing rate of acceleration.
