ADLINK PCI-8154 - Manual (Page 209)

Function Library 199
6.18 Multiple Axes Simultaneous Operation
@ Name
_8154_set_tr_move_all – Multi-axis simultaneous operation
setup
_8154_set_ta_move_all – Multi-axis simultaneous operation
setup
_8154_set_sr_move_all – Multi-axis simultaneous operation
setup
_8154_set_sa_move_all – Multi-axis simultaneous operation
setup
_8154_start_move_all – Begin a multi-axis trapezoidal profile
motion
_8154_stop_move_all – Simultaneously stop Multi-axis motion
@ Description
Theses functions are related to simultaneous operations of multi-
axes, even in different cards. The simultaneous multi-axis opera-
tion means to start or stop moving specified axes at the same
time. The axes moved are specified by the parameter “AxisArray,”
and the number of axes are defined by parameter “TotalAxes” in
_8154_set_tr_move_all
().
When properly setup with _8154_set_xx_move_all(), the func-
tion _8154_start_move_all() will cause all specified axes to
begin a trapezoidal relative movement, and
_8154_stop_move_all
() will stop them. Both functions guaran-
tee that motion Starting/Stopping on all specified axes are at the
same time. Note that it is necessary to make connections accord-
ing to section 2.6 if these two functions are needed.
The following code demos how to utilize these functions. This
code moves axis 0 and axis 1 to distance 80000.0 and 120000.0
respectively. If we choose velocities and accelerations that are
proportional to the ratio of distances, then the axes will arrive at
their endpoints at the same time.
Example: