User`s guide

84 •Function Library
6.6 Trapezoidal Motion Mode
@ Name
start_a_move– Begin an absolute trapezoidal profile motion
start_r_move– Begin a relative trapezoidal profile motion
start_t_move– Begin a non-symmetrical relative trapezoidal profile
motion
start_ta_move– Begin a non-symmetrical absolute trapezoidal
profile motion
a_move– Begin an absolute trapezoidal profile motion and wait for
completion
r_move– Begin a relative trapezoidal profile motion and wait for
completion
t_move– Begin a non-symmetrical relative trapezoidal profile motion
and wait for completion
ta_move– Begin a non-symmetrical absolute trapezoidal profile
motion and wait for completion
@ Description
start_a_move() :
This function causes the axis to accelerate from a starting velocity,
slew at constant velocity, and decelerate to stop at the specified
absolute position, immediately returning control to the program. The
acceleration rate is equal to the deceleration rate. a_move() starts an
absolute coordinate move and waits for completion.
start_r_move() :
This function causes the axis to accelerate from a starting velocity,
slew at constant velocity, and decelerate to stop at the relative
distance, immediately returning control to the program. The
acceleration rate is equal to the deceleration rate. r_move() starts a
relative move and waits for completion.
start_ta_move() :
This function causes the axis to accelerate from a starting velocity,
slew at constant velocity, and decelerate to stop at the specified
absolute position, immediately returning control to the program..
ta_move() starts an absolute coordinate move and waits for completion.
start_t_move() :
This function causes the axis to accelerate from a starting velocity,
slew at constant velocity, and decelerate to stop at the relative
distance, immediately returning control to the program.. t_move()
starts a relative coordinate move and waits for completion.
The moving direction is determined by the sign of pos or dist
parameter.If the moving distance is too short to reach the specified
velocity, the controller will accelerate for the first half of the distance
and decelerate for the second half (triangular profile). wait_for_done()
waits for the motion to complete.