ADLINK PCI-8134A - Manual (Page 47)

Operations
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If this ratio is not set before issuing the start moving command, it will cause
problems when running in “Absolute Mode”. Because the PCI-8134/PCI-
8134A can’t recognize the actual absolute position during motion.
Relative Functions:
a_move(), r_move(), t_move(), ta_move(), start_a_move(), start_r_move(),
start_t_move(), start_ta_move() Refer to section 6.6.
motion_done(): Refer to section 6.13.
set_cnt_src(): Refer to section 6.4.
set_move_ratio(): Refer to section 6.10.
4.1.4 S-curve Profile Motion
This mode is used to move one axis motor to a specified position (or
distance) with a S-curve velocity profile. S-curve acceleration profiles are
useful for both stepper and servo motors. The smooth transitions between
the start of the acceleration ramp and the transition to the constant velocity
produce less wear and tear than a trapezoidal profile motion. The smoother
performance increases the life of the motors and mechanics of a system.
There are several parameters needed to be set in order to make a S-curve
move. They are:
pos: target position in absolute mode;
dist: moving distance in relative mode;
str_vel : specify the start velocity;
max_vel : specify the maximum velocity;
Tlacc: specify the time for linear acceleration section
(constant acceleration).
Tsacc: specify the time for S-curve acceleration section
Motor
Gear
Encoder
Table
Moving part