NPM PPCI7443, Руководство пользователя

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Operation Theorem
The _7443_cmp_v_change() gets almost the same function as
_7443_v_change(), except that the _7443_cmp_v_change() act only when
general comparator comes into existence. Please refer to section 4.4.4 for
more detail description about general comparator.
The last 4 functions are relatively easy to understand and use. So, the
discussion will be focused on the _7443_v_change()
Work theory of _7443_v_change() :
The _7443_v_change() function is used to change the MaxVel on the fly. In
a normal motion operation, the axis starts at StrVel speed, accelerates to
MaxVel, and then keeps at MaxVel until entering deceleration region. If
user changes the MaxVel, it will force the axis to accelerate or decelerate to
a new speed in a period of time defined by user. Both Trapezoidal and S-
curve profiles are applicable. The speed changing is at constant
acceleration in Trapezoidal profile, and constant jerk in S-curve.
Speed change with S-curve
Constrains of _7443_v_change():
In single axis preset mode, there must be enough remaining pulses to reach
new velocity. If not, the _7443_v_change() will return error and keep
velocity unchanged.
For example:
A trapezoidal relative motion is applied:
_ 7443_start_tr_move(0,10000,0,1000,0.1,0.1).
_7443_sv_move
_7443_v_change
Tacc Tacc