ADLINK Technology PCI-8132, Руководство пользователя

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Function Library
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95
Integer
@ Argument
axis : axis number designated to configure
n_axes : number of axes for coordinated motion
*map_array : specified axes number array designated to move.
str_vel : starting velocity in unit of pulse per second
max_vel : maximum velocity in unit of pulse per second
Tacc : specified acceleration time in unit of second
Tlacc : specified linear acceleration section of s-curve in second
Tsacc : specified curve acceleration section of s -curve in second
degrees : maximum angle between successive points along the arc.
ratio : ratio of (feedback resolution)/(command resolution)
@ Return Code
ERR_NoError
6.11 Home Return
@ Name
_8132_set_home_config – Set the configuration for home return.
_8132_home_move – Perform a home return move.
@ Description
_8132_set_home_config:
Configure the logic of origin switch and index signal needed for
home_move() function. If you need to stop the axis after EZ signal is
active(home_mode=1 or 2), you should keep placing ORG signal in the
ON status until the axis stop. If the pulse width of ORG signal is too short
to keep it at ON status till EZ goes ON, you should select the org_latch as
enable. The latched condition is cancelled by the next start or by disabling
the org_latch. Three home return modes are available. Refer to
Chapter4.1.5 for the setting of home_mode control.
_8132_home_move:
This function will cause the axis to perform a home return move according
to the setting of
set_home_config() function. The direction of moving is
determined by the sign of velocity parameter(svel, mvel). Since the
stopping condition of this function is determined by
home_mode setting,
user should take care to select the initial moving direction. Or user should
take care to handle the condition when limit switch is touched or other
conditions that is possible causing the axis to stop. Executing v_
stop()
function during home_move() can also cause the axis to stop.