ADLINK AMP-208C - Manual (Page 116)

Motion Control Theory 102
AMP-204C / AMP-208C
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
4.6.2 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 offset 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