Motion status, 13 motion status – ADLINK PCI-8134A User Manual

Page 105

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Function Library

95

U16 manu_move(I16 axis, F64 mvel)

Visual Basic (Windows)

set_manu_iptmode (ByVal axis As Long, ByVal

manu_iptmode As Long, ByVal op_mode As Long) As
Integer

manu_move (ByVal axis As Long, ByVal max_vel As Double)

As Integer

@ Argument

axis: axis number designated to start manual move
ipt_mode: setting of manual pulser input mode from PA and PB pins

ipt_mode=0, 1X AB phase type pulse input.

ipt_mode=1, 2X AB phase type pulse input.

ipt_mode=2, 4X AB phase type pulse input.

ipt_mode=3, CW/CCW type pulse input.

op_mode: common or independent mode selection

op_mode=0, Independent for each axis

op_mode=1,PAX, PBX common for PAY, PBY

or PAZ, PBZ common for PAU, PBU.

mvel: limitation for maximum velocity

@ Return Code

ERR_NoError

6.13

Motion Status

@ Name

motion_done – Return the status when a motion is done

@ Description

motion_done:

Return the motion status of PCI-8134.
Definition of return value is as following:

Return value =

0: the axis is busying.

1: a movement is finished

2: the axis stops at positive limit switch

3: the axis stops at negative limit switch

4: the axis stops at origin switch

5: the axis stops because the ALARM signal is active

The following code demonstrates how to utilize this function:

// Begin a trapezoidal velocity profile motion start_a_move(axis_x, pos1,

svel, mvel, Tacc);

// Wait for completion while(!motion_done(axis_x));

@ Syntax

C/C++ (DOS, Windows)

U16 motion_done(I16 axis)

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