ADLINK HSL-4XMO - Manual (Page 91)

Operation Theory 81
Figure 4-38: Theory of HSL_M_p_change()
HSL_M_p_change() Constraints:
1. HSL_M_p_change() is only applicable on single-axis
absolute pre-set motion, i.e., HSL_M_start_ta_move(),
and HSL_M_start_sa_move() only.
2. Position change during the deceleration period is not
allowed.
3. There must be enough distance between the new target
position and current position where HSL_M_p_change()
is executed because the HSL-4XMO needs enough
space to finish deceleration.
Example:
A trapezoidal absolute motion is applied:
HSL_M_start_ta_move(0,10000,0,1000,0.5,1).
It cause axis 0 to move to pulse 10000 position with a maximum
velocity of 1000 PPS. The necessary number of pulses to deceler-
ate is 0.5*1000*1 = 500.