ADLINK HSL-4XMO - Manual (Page 90)

80 Operation Theory
Change Position on the Fly
When operating in single-axis absolute pre-set motion, it is possi-
ble to change the target position during moving by using the func-
tion HSL_M_p_change().
Figure 4-37: Change Position on the Fly
Theory of HSL_M_p_change():
The HSL_M_p_change() is applicable to the
HSL_M_start_ta_move(), and HSL_M_start_sa_move() functions
only. It is used to change the target position, defined originally by
these two functions. After changing position, the axis will move to
the new target position and totally disregard the original position. If
the new position is in the passed path, it will cause the axis to
decelerate and eventually stop, then reverse, as shown in the
chart. The acceleration and deceleration rate, and StrVel and Max-
Vel are kept the same as the original setting.