User`s guide

36 • Operation Theorem
4.1.2 Constant Velocity Motion
This mode is used to operate one axis motor at constant velocity motion.
The output pulse accelerates from a starting velocity (str_vel) to the
specified constant velocity (max_vel). The v_move() function is used to
accelerate cons tantly while the sv_move() function is to accelerate
according to S-curve (constant jerk). The pulse output rate will keep at
maximum velocity until another velocity command is set or stop command is
issued. The v_change() is used to change speed during moving. The
v_stop() function is used to decelerate the motion to zero velocity (stop).
The velocity profile is shown as following. Note that v_stop() function can
be also be applied to stop outputting command pulses during Preset Mode
(both trapezoidal and S-curve Motion) , Home Mode or Manual Pulser
Mode operations.
Relative Functions:
v_move( ), v_stop( ), sv_move(): Refer to section 6.5
4.1.3 Trapezoidal Motion
This mode is used to move one axis motor to a specified position (or
distance) with a trapezoidal velocity profile. Single axis is controlled from
point to point. An absolute or relative motion can be performed. In absolute
mode, the target position is assigned. In relative mode, the target
displacement is assigned. In both absolute and relative mode, the
acceleration and the deceleration can be different. The motion_done()
function is used to check whether the movement is complete.
Velocity(pps)
str_vel
Tacc
Tdec
max_vel
v_move () v_stop ()
Time(second)