130 Function Library
6.5 Velocity mode motion
@ Name
_8102_tv_move – Accelerate an axis to a constant
velocity with trapezoidal profile
_8102_sv_move – Accelerate an axis to a constant
velocity with S-curve profile
_8102_emg_stop – Immediately stop
_8102_sd_stop – Decelerate to stop
_8102_get_current_speed – Get current speed
_8102_speed_override – Change speed on the fly
_8102_set_max_override_speed – Set the maximum
orerride speed
@ Description
_8102_tv_move:
This function is to accelerate an axis to the specified constant
velocity with a trapezoidal profile. The axis will continue to travel at
a constant velocity until the velocity is changed or the axis is com-
manded to stop. The direction is determined by the sign of the
velocity parameter.
_8102_sv_move:
This function is to accelerate an axis to the specified constant
velocity with a S-curve profile. The axis will continue to travel at a
constant velocity until the velocity is changed or the axis is com-
manded to stop. The direction is determined by the sign of velocity
parameter.
_8102_emg_stop:
This function is used to immediately stop an axis. This function is
also useful when a preset move (both trapezoidal and S-curve
motion), manual move, or home return function is performed.
_8102_sd_stop:
This function is used to decelerate an axis to stop with a trapezoi-
dal or S-curve profile. This function is also useful when a preset
move (both trapezoidal and S-curve motion), manual move, or
home return function is performed. Note: The velocity profile is
decided by original motion profile.
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