ADLINK AMP-208C User Manual
Page 168
Motion Control Theory
154
AMP-204C / AMP-208C
After an axis movement is set to startup-by-trigger mode it enters
the trigger waiting status, i.e. the WAIT signal of Bit 10 in table
below is ON. . You may display its signal status with function
library, the motion status monitoring function is
I32 APS_motion_status ();
See figure below for an illustration of motion set to trigger waiting
Relevant APS API described below
I32 APS_ptp ();I32 APS_ptp_v ();I32 APS_ptp_all ();I32
APS_line ();I32 APS_line_v ();
I32APS_line_all ();I32 APS_vel ();I32 APS_vel_all ();I32
APS_arc2_ca ();I32 APS_arc2_ca_v ();
I32 APS_arc2_ca_all ();I32 APS_arc2_ce ();I32 APS_arc2_ce_v
();I32 APS_arc2_ce_all ();
Motion status definition table
7
6
5
4
3
2
1
Bit:
--
HMV
MDN
DIR
DEC
ACC
VM
CSTP
15
14
13
12
11
10
9
8
JOG
--
--
--
PTB
WAIT
--
--
Time
Velocity
Time
In
WAITstate
Time
Axis
0
Axis
1
APS_ptp(axis0,0x100 );
APS_ptp(axis1,0x100 );
In
WAITstate
Axis
0
Axis
1