ADLINK PCI-8134A User Manual

Page 95

Function Library

• 85

a_move– Begin an absolute trapezoidal profile motion and wait for
completion
r_move– Begin a relative trapezoidal profile motion and wait for
completion
t_move – Begin a non-symmetrical relative trapezoidal profile motion
and wait for completion
ta_move– Begin a non-symmetrical absolute trapezoidal profile motion
and wait for completion

wait_for_done – Wait for an axis to finish
set_rdp_mode – Set ramping down mode

@ Description

start_a_move() :

This function causes the axis to accelerate from a starting velocity, slew
at constant velocity, and decelerate to stop at the specified absolute
position, immediately returning control to the program. The acceleration
rate is equal to the deceleration rate. a_move() starts an absolute
coordinate move and waits for completion.

start_r_move() :

start_ta_move() :

This function causes the axis to accelerate from a starting velocity, slew
at constant velocity, and decelerate to stop at the specified

absolute position, immediately returning control to the program..
ta_move() starts an absolute coordinate move and waits for
completion.

start_t_move() :

This function causes the axis to accelerate from a starting velocity, slew
at constant velocity, and decelerate to stop at the relative distance,
immediately returning control to the program.. t_move() starts a relative
coordinate move and waits for completion.
The moving direction is determined by the sign of pos or dist
parameter.If the moving distance is too short to reach the specified
velocity, the controller will accelerate for the first half of the distance and
decelerate for the second half (triangular profile). wait_for_done() waits for
the motion to complete.

wait_for_done():

This function will return after the specified axis is not busy for motion.

set_rdp_mode():

Switch the motion slow down mode for auto or manual mode. The
mode is default in manual mode.

@ Syntax

C/C++ (DOS, Windows)