ADLINK PCI-8144 - Manual (Page 108)

98 Function Library
_8144_start_tr_move
Begin a relative trapezoidal profile move
Description:
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 symmetrical
trapezoidal profile. The acceleration and deceleration time is
specified by a parameter “Tacc”. The moving direction is deter-
mined by the sign of the Distance parameter. It does not let the
program wait for motion completion but immediately returns
control to the program.
This function has warning return code. It means that the speed
profile that users specified doesn’t make sense or out of ASIC
can do. It will adjust the parameter automatically and return a
warning code, and the motion card still output pulses to control
the axis.
Syntax:
I16 _8144_start_tr_move( I16 AxisNo, F64
Distance, F64 StrVel, F64 MaxVel, F64 Tacc
);
B_8144_start_tr_move( ByVal AxisNo As Integer,
ByVal Distance As Double, ByVal StrVel As
Double, ByVal MaxVel As Double, ByVal Tacc
As Double ) As Integer
Parameters:
I16 AxisNo : The axis number is designated to receive the
command.
Card ID Physical axis AxisNo
0
0 0
1 1
2 2
3 3