NPM PPCI7443, User Manual

Page: 93 / 183

Operation Theorem
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85
4.6.2 Change position on the fly
When operating in single-axis absolute pre-set motion, it is possible to
change
the target position during moving by function call
_7443_p_change().
Work theory of _7443_p_change() :
The _7443_p_change() is applicable on _7443_start_ta_move(), and
_7443_start_sa_move() only. It is to change the target position defined
originally by these two functions. After changing position, the axis will move
to the new target position and totally forget the original position. If the new
position is in passed path, it will cause the axis to decelerate to stop, than
reverse, as the following graph. The acceleration and deceleration rate, the
StrVel and MaxVel will keep the same as original setting.
Speed
Position
Original
New
_7443_P_change()
_7443_start_ta_move()
Original
End Point
New
End Point