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esp_set_startstop_speed
Set Axis Start Speed (for Stepper Motors only)
esp_get_startstop_speed
Report Axis Start Speed (for Stepper Motors only)
Synopsis:
#include “esp6000.h”
int esp_set_startstop_speed(long axis, float speed)
int esp_get_startstop_speed(long axis, float *speed)
Arguments:
long axis
axis number from 1-6
float speed
target start/stop speed in user units/seconds
2
Library Location:
\esp6000.dll
Description:
esp_set_startstop_speed() sets the desired instantaneous start and stop speed for the
specified stepper motor axis. This command is used to “skip over” the resonance
frequency (typically around 1 motor rps) of stepper motors.
The axis has to be in TRAPSTEP trajectory mode (see esp_set_traj_mode function) for
esp_set_startstop_speed() to take affect.
esp_get_startstop_speed() reports the present start speed setting for the specified axis.
Returns:
ESPOK, ESPERROR
Hint:
Most applications never need to change ESP-compatible default values.
Usage Example:
#include “esp6000.h”
main()
{
long error, servotick;
if (!esp_init_system())
{
printf(“ESP6000 Not Initialized! \r\n”);
exit(-1);
}
/* set axis 1 speed parameters */
esp_set_speed(1, 30.0);
esp_set_startstop_speed(1, 0.02);
/* check error status */
esp_get_error_num(&error,&ServoTick)
;
if (error) printf(“Error %d Reported!\r\n”, error);
}
See Also:
esp_set_speed()
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