ADLINK PCI-8158 - Manual (Page 144)

134 Function Library
6.6 Single Axis Position Mode
@ Name
_8158_start_tr_move – Begin a relative trapezoidal profile
move
_8158_start_ta_move – Begin an absolute trapezoidal profile
move
_8158_start_sr_move – Begin a relative S-curve profile move
_8158_start_sa_move – Begin an absolute S-curve profile
move
_8158_set_move_ratio – Set the ration of command pulse
and feedback pulse
_8158_position_override – Change position on the fly
@ Description
General:
The moving direction is determined by the sign of the Pos or
Dist parameter. If the moving distance is too short to reach the
specified velocity, the controller will automatically lower the
MaxVel, and the Tacc, Tdec, VSacc, and VSdec will also
become shorter while dV/dt(acceleration / deceleration) and
d(dV/dt)/dt (jerk) are keep unchanged.
_8158_start_tr_move:
This function causes the axis to accelerate form a starting
velocity (StrVel), rotate at constant velocity (MaxVel), and
decelerate to stop at the relative distance with trapezoidal pro-
file. The acceleration (Tacc) and deceleration (Tdec) time is
specified independently–it does not let the program wait for
motion completion but immediately returns control to the pro-
gram.
_8158_start_ta_move:
This function causes the axis to accelerate from a starting
velocity (StrVel), rotate at constant velocity (MaxVel), and
decelerates to stop at the specified absolute position with trap-