ADLINK AMP-208C - Manual (Page 167)

Motion Control Theory 153
AMP-204C / AMP-208C
4.9.5 Simultaneous Movement
4.9.5.1 Simultaneous Start
Synchronized (Simultaneous) start: This movement can set to be
enabled by trigger. When proper command is received, the axis
enters a waiting-for-trigger-signal status and starts moving after
the trigger is received. When multiple axes are in
waiting-for-trigger-signal status you may send trigger signal at the
same time for synchronized enabling. Please note that movement
of each axis is independent from each other and so the end time
varies with offset amount and acceleration profile.
Please enables simultaneous start by steps below:
a Set axis movement to triggered startup and check the
axis status for waiting for trigger
b Send the trigger to run synchronized start
a Set axis movement to triggered startup and check the
axis status for waiting for trigger
You may set up the startup-by-trigger mode by the Option
parameter of the controller's function. The axis enters
trigger waiting status once the command is received.
Take APS_ptp, the function prototype may look like
I32 APS_ptp( I32 Axis_ID, I32 Option, … );
See table below for definitons of Option. Please note that
given axis is set to startup-by-trigger mode when Bit 8 is
given value 1.
7 6 5 4 3 2 1 Bit:
Absolute (0) /
Relative (1)
15 14 13 12 11 10 9 8
Buffer mode Wait trigger