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50 Operation Theory
4.2.5 Velocity Mode
Veloctiy mode means the pulse command is continuously output-
ing until a stop command is issued. The motor will run without a
target position or desired distance unless it is stopped by other
reasons. The output pulse accelerates from a starting velocity to a
specified maximum velocity. It can be follow a linear or S-curve
acceleration shape. The pulse output rate is kept at maximum
velocity until another velocity command is set or a stop command
is issued. The velocity could be overrided by a new speed setting.
Notice that the new speed could not be a reversed speed of origi-
nal running speed. The speed profile of this kind of motion is
shown as below:
4.2.6 One Axis Position Mode
Position mode means the motion controller will output a specific
amount of pulses which is equal to users’ desired position or dis-
tance. The unit of distance or position is pulse internally on the
motion controller. The minimum length of distance is one pulse.
But in PCI-8102, we provide a floating point function for users to
transform a physical length to pulses. Inside our software library,
we will keep those distance less than one pulse in register and
apply them to the next motion function. Besides positioning via
pulse counts, our motion controller provides three types of speed
profile to accomplish positioning. There are 1st order trapezoidal,
2nd order S-curve, and mixed bell curve. Users can call respective
functions to perform that. The following char shows the relation-
ship between distance and speed profile. We use trapezoidal
shape to show it.