ADLINK HSL-4XMO - Manual (Page 61)

Operation Theory 51
Figure 4-15: Velocity and Acceleration Time A
How do users decide an optimum value for “OverVelocity” in the
HSL_M_fix_speed_range() function? The HSL_M_verify_speed()
function is provided to calculate such value. The inputs to this
function are the start velocity, maximum velocity and over velocity
values. The output value will be the minimum and maximum val-
ues of the acceleration time.
For example, if the original acceleration range for the command is:
HSL_M_start_tr_move(AxisNo,5000,0,5000,0.001,0.0
01),
then use the following function:
HSL_M_verify_speed(0,5000,&minAccT,
&maxAccT,5000);
The value miniAccT will be 0.0267sec and maxAccT will be
873.587sec. This minimum acceleration time does not meet the
requirement of 1mS. To achieve such a low acceleration time the
over speed value must be used.
By changing the OverVelocity value to 140000,