NPM PPCI7443, User Manual

Page: 92 / 183

84
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Operation Theorem
100000pps if Sensor 3 is touched. Then the code for this application and
the resulting velocity profiles are shown below.
_7443 _fix_speed_range(axis, 100000.0);
_7443_start_ta_move(axis, 200000.0, 1000, 10000, 0.02,0.01);
while(!_7443_motion_done(axis))
{
// Get Sensor’s information from other I/O card
if((Sensor1==High) && (Sensor2==Low) && (Sensor3 == Low))
_7443_v_change(axis, 25000, 0.02);
else if((Sensor1==Low) && (Sensor2==High) && (Sensor3 == Low))
_7443_v_change(axis, 50000, 0.02);
else if((Sensor1==Low) && (Sensor2==Low) && (Sensor3 == High))
_7443_v_change(axis, 100000, 0.02);
}
Where the information of three sensors are acquired from other I/O card.
And the resulting velocity profile from experiment is shown below.
Relative Function:
_7443_v_change(), _7443_sd_stop(), _7443_emg_stop(), _7443 _fix_speed_range(),
_7443 _unfix_speed_range(), _7443_get_currebt_speed()
: refer to section 6.5
Motor
Sensor 2 Sensor 3
Pos=0 Pos=200000
Moving part
Sensor 1