Function Library 133
6.6 Single Axis Position Mode
@ Name
_8102_start_tr_move – Begin a relative
trapezoidal profile move
_8102_start_ta_move – Begin an absolute
trapezoidal profile move
_8102_start_sr_move – Begin a relative S-curve
profile move
_8102_start_sa_move – Begin an absolute S-curve
profile move
_8102_set_move_ratio – Set the ration of command
pulse and feedback pulse
_8102_position_override – Change position on the
fly
@ Description
General:
The moving direction is determined by the sign of the Pos or Dist
parameter. If the moving distance is too short to reach the speci-
fied velocity, the controller will automatically lower the MaxVel, and
the Tacc, Tdec, VSacc, and VSdec will also become shorter while
dV/dt(acceleration / deceleration) and d(dV/dt)/dt (jerk) are keep
unchanged.
_8102_start_tr_move:
This function causes the axis to accelerate form a starting velocity
(StrVel), rotate at constant velocity (MaxVel), and decelerate to
stop at the relative distance with trapezoidal profile. The accelera-
tion (Tacc) and deceleration (Tdec) time is specified indepen-
dently–it does not let the program wait for motion completion but
immediately returns control to the program.
_8102_start_ta_move:
This function causes the axis to accelerate from a starting velocity
(StrVel), rotate at constant velocity (MaxVel), and decelerates to
stop at the specified absolute position with trapezoidal profile. The
acceleration (Tacc) and deceleration (Tdec) time is specified inde-
pendently. This command does not let the program wait for motion
completion, but immediately returns control to the program.
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