ADLINK Technology PCI-8132, Руководство пользователя

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Function Library
6.8 Multiple Axes Point to Point Motion
@ Name
_8132_start_move_all– Begin a multi-axis trapezoidal profile
motion
_8132_move_all–Begin a multi-axis trapezoidal profile motion and
wait for completion
_8132_wait_for_all–Wait for all axes to finish
@ Description
_8132_start_move_all() :
This function causes the specified axes to accelerate from a starting
velocity, slew at constant velocity, and decelerate to stop at the
specified abs olute position, immediately returning control to the
program. The move axes are specified by axes and the number of
axes are defined by
n_axes . The acceleration rate of all axes is equal
to the deceleration rate.
_8132_
move_all() starts the motion and waits
for completion. Both functions guarantee that motion begins on all
axes at the same sample time.
Note that it is necessary to make
connections according to Section 3.12 on CN3 if these two functions
are needed.
_8132_
wait_for_done() waits for the motion to complete for all of the
specified axes.
The following code demos how to utilize these functions. This code
moves axis 0 and axis 4 to position 8000.0 and 120000.0 respectively.
If we choose velocities and acelerations that are propotional to the
ratio of distances, then the axes will arrive at their endpoints at the
same time (simultaneous motion).
#include “pci_8132.h”
int main()
{
I16 axes[2] = {0, 4};
F64
positions[2] = {8000.0, 12000.0},
str_vel[2]={0.0, 0.0},
max_vel[2]={4000.0, 6000.0},
Tacc[2]]={0.04, 0.06};
_8132_move_all(2, axes, positions, str_vel, max_vel, Tacc);
return ErrNoError;
}