132
Motion Control Theory
Relevant APS API described below:
I32 APS_ptp ();
// PTP move
I32 APS_ptp_v ();
// PTP move with maximum speed parameter
I32 APS_ptp_all ();
// PTP move with all speed parameter
I32 APS_relative_move ();
// Relative PTP move in I32 data
format
I32 APS_absolute_move ();
// Absolute PTP move in I32 data
format
I32 APS_stop_move ();
// deceleration stop
I32 APS_emg_stop ();
// immediately stop
• Relevant axis parameters
4.7.2
Synchronous Start
Synchronous start: This movement can set to be enabled by
trigger. When proper command is received, the axis enters a
waiting-for-trigger-signal status and starts moving after the trigger
is received. When multiple axes are in waiting-for-trigger-signal
status you may send trigger at the same time for synchronized
enabling. Please note that movement of each axis is independent
from each other and so the end time varies with amount and
acceleration profile.
Param. No.
Define symbol
Description
07h (7)
PRA_SD_DEC
stop_move (), deceleration rate
20h (32)
PRA_SF
S-factor
21h (33)
PRA_ACC
Acceleration rate
22h (34)
PRA_DEC
Deceleration rate
23h (35)
PRA_VS
Start velocity
24h (36)
PRA_VM
Maximum velocity
25h (37)
PRA_VE
End velocity
Содержание PCI-8254
Страница 2: ...ii Revision History Revision Date Description 2 00 2014 08 13 First release ...
Страница 8: ...viii Table of Contents Important Safety Instructions 209 Getting Service 211 ...
Страница 12: ...xii List of Figures ...
Страница 14: ...xiv List of Tables ...
Страница 24: ...10 Introduction ...
Страница 54: ...40 Getting Start with The Installation ...
Страница 78: ...64 Signal Connection ...
Страница 111: ...Motion Control Theory 97 PCI 8254 PCI 8258 MCP2 Bode plot page ...
Страница 165: ...Motion Control Theory 151 PCI 8254 PCI 8258 Example Figure 4 55 Continuous interpolation examples ...
Страница 222: ...208 Motion Control Theory ...