Motion Control
Precision MicroControl Corp.
86
Defining the Characteristics of a Move
Prior to executing any move, the user should define the parameters of the move. The components that
make up a move are:
// Set axis 1 maximum velocity
// Set axis 1 acceleration
// Set axis 1 deceleration
// Set profile as Trapezoidal
// Set Position mode
// Set target (10000), begin move
MCSetVelocity( hCtlr, 1, 10000.0 );
MCSetAcceleration( hCtlr, 1, 100000.0 );
MCSetDeceleration( hCtlr, 1, 100000.0 );
MCSetProfile( hCtlr, 1, MC_PROF_TRAPEZOID );
MCSetOperatingMode( hCtlr, 1, 0, MC_MODE_POSITION );
MCMoveRelative( hCtlr, 1, 100000.0 );
The parameters defined in the program example above specify a move to position 100,000. During the
move the velocity will not exceed 10,000 encoder counts per second. A trapezoidal velocity profile will be
calculated by the motion controller The rate of change (acceleration and deceleration) will be 100,000
encoder counts per second/per second, there by reaching the maximum velocity (10,000 counts per
second) in 100 msec’s. The resulting velocity and acceleration profiles follow:
Velocity
(encoder counts per second)
Time (msec's)
100
200
300
400
500
600
700
800
900
1000
2500
5000
10000
7500
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