5-50
esp_set_max_accel Set Axis Maximum Acceleration Rate
esp_get_max_accel Report Axis Maximum Acceleration Rate Setting
Synopsis:
#include “esp6000.h”
int esp_set_max_accel(long axis, float accel)
int esp_get_max_accel(long axis, float *accel)
Arguments:
long axis
axis number from 1-6
long accel
maximum acceleration in user units/seconds
2
Library Location:
\esp6000.dll
Description:
esp_set_max_accel() sets the maximum permissible acceleration for the specified axis.
The controller will not accept acceleration or deceleration parameters set by other
functions (e.g., esp_set_accel() ) which exceed maximum permissible acceleration.
esp_get_max_accel() reports the maximum permissible acceleration setting for the
specified axis.
Returns:
ESPOK, ESPERROR
Hint:
Usage Example:
#include “esp6000.h”
main()
{
long error, servotick;
if (!esp_init_system())
{
printf(“ESP6000 Not Initialized! \r\n”);
exit(-1);
}
/* set axis 1 trajectory parameters */
esp_set_max_speed(1, 100.0);
esp_set_max_accel(1, 500.0);
esp_set_max_jerk(1,100.0);
/* check error status */
esp_get_error_num(&error,&ServoTick)
;
if (error) printf(“Error %d Reported!\r\n”, error);
}
See Also:
esp_set_accel(), esp_set_decel()
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