ADLINK PCI-8164 User Manual

Page 139

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Operation Theory

127

2. During the acceleration or deceleration period, using

_8164_v_change() is not recommended. Even if it

does work in most cases, the acceleration and deceler-
ation time is not guaranteed.

Example:

There are three speed change sensors during an absolute move
for 200000 pulses. Initial maximum speed is 10000 pps. Change
to 25000 pps if Sensor 1 is touched. Change to 50000 pps if Sen-
sor 2 is touched. Change to 100000 pps if Sensor 3 is touched.
Then the code for this application and the resulting velocity pro-
files are shown below.

#include “pci_8164.h”
_8164_fix_speed_range(axis, 100000.0);
_8164_start_ta_move(axis, 200000.0, 1000, 10000,

0.02,0.01);

while(!_8164_motion_done(axis))
{
// Get sensor’s information from another I/O card