ADLINK HSL-4XMO - Manual (Page 62)

52 Operation Theory
HSL_M_verify_speed(0,5000,&minAccT,
&maxAccT,140000);
The value miniAccT will be 0.000948sec and maxAccT will be
31.08sec. This minimum acceleration time meets the require-
ments. So, the motion command can be changed to:
HSL_M_fix_speed_range(AxisNo,140000);
HSL_M_start_tr_move(AxisNo,5000,0,5000,0.001,0.0
01);
Note: The return value of HSL_M_verify_speed() is the minimum
velocity of motion command, it does not always equal to your
start velocity setting. In the above example, it will be 3pps
more than the 0pps setting.
To disable the fix speed function HSL_M_fix_speed_range()
use HSL_M_unfix_speed_range()
Minimize the use of the OverVelocity operation. The more it
is used, the coarser the speed interval is.
Figure 4-16: Velocity and Acceleration Time B
Example:
User’s Desired Profile: (MaxV2, Target T) is not possible under
MaxV2 according to the (MaxV, MiniT) relationship. So one must