ICPDAS
I-8092F Software User Manual
144
Fig. A-41
Asymmetric S-curve acc/dec
Demo Program:
T/S-curve acc/dec motion [Asymmetry]
Parameters:
cardNo=1, motion axes=0x3 (AXIS_XY)
i8092_SET_R(cardNo, 0x3, 8000000);
// R=800000, Multiple=10
i8092_SET_SCURVE(cardNo, 0x3);
// Set S-Curve Mode
i8092_SET_ASYMMETRY(cardNo, 0x3);
// Set Non-Symmetry Mode
i8092_SET_SV(cardNo, 0x3, 100);
// SV=100,Iinitial Speed=1000 (PPS)
i8092_SET_V(cardNo, 0x3, 1000);
// V=1000, Drive Speed=10000 (PPS)
i8092_SET_A(cardNo, 0x3, 800);
// A=800, Acceleration=1000K (PPS/Sec)
i8092_SET_D(cardNo, 0x3, 80)
// D=80, Deceleration=100K (PPS/Sec)
i8092_SET_K(cardNo, 0x3, 1250);
/
/ K=1250, Jerk=500K (PPS/Sec
2
)
i8092_SET_L(cardNo, 0x3, 125);
// L=125, Decelerating Rate=50K (PPS/Sec
2
)
i8092_SET_PULSE(cardNo, 0x3, 50000);
// X-Axis Driving Pulse=50000
i8092_DRV_HOLD(card, 0x3);
// Holding for driving starting
i8092_DRV_FDRIVE(cardNo, 0x1, 1);
// X-Axis Negative Fixed Pulse Drive
i8092_DRV_FDRIVE(cardNo, 0x2, 0);
// Y-Axis Positive Fixed Pulse Drive
i8092_DRV_START(card, 0x3);
// Holding Release
