User`s guide

74 •Function Library
Trapezoidal Motion Mode
Section 6.6
a_move(axis, pos, svel, mvel, Tacc); Perform an absolute trapezoidal
profile move
start_a_move(axis, pos, svel, mvel, Tacc); Begin an absolute trapezidal
profile move
r_move(axis, dist, svel, mvel, Tacc); Perform a relative trapezoidal
profile move
start_r_move(axis, dist, svel, mvel, Tacc); Begin a relative trapezoidal
profile move
t_move(axis, dist, svel, mvel, Tacc, Tdec); Perform a relative non-
symmetrical trapezoidal profile
move
start_t_move(axis, dist, svel, mvel, Tacc,
Tdec);
Begin a relative non-symmetrical
trapezidal profile move
start_ta_move(axis, pos, svel, mvel, Tacc,
Tdec);
Begin an absolute non-
symmetrical trapezidal profile
move
ta_move(axis, pos, svel, mvel, Tacc, Tdec); Perform an absolute non-
symmetrical trapezoidal profile
move
wait_for_done(axis); Wait for an axis to finish
S-Curve Profile Motion Section 6.7
s_move(axis, pos, svel, mvel, Tlacc,
Tsacc);
Perform an absolute S-curve
profile move
start_s_move(axis, pos, svel, mvel, Tlacc,
Tsacc);
Begin an absolute S-curve profile
move
rs_move(axis, dist, svel, mvel, Tlacc,
Tsacc);
Perform a relative S-curve profile
move
start_rs_move(axis, dist, svel, mvel, Tlacc,
Tsacc);
Begin a relative S-curve profile
move
tas_move(axis, pos, svel, mvel, Tlacc,
Tsacc, Tldec, Tsdec);
Perform an absolute non-
symmetrical S-curve profile
move
start_tas_move(axis, pos, svel, mvel, Tlacc,
Tsacc, Tldec, Tsdec);
Begin an absolute non-
symmetrical S-curve profile
move
Multiple Axes Point to Point Motion Section 6.8
start_move_all(n_axes, *axes, *pos, *svel,
*mvel, *Tacc);
Begin a multi-axis trapezodial
profile move
move_all(n_axes, *axes, *pos, *svel, *mvel,
*Tacc);
Perform a multi-axis trapezodial
profile move
wait_for_all(n_axes, *axes); Wait for all axes to finish