Hardware manual

47
pxmc_trp_gend
Changes request position to new factor, what should finalize the
use of trapezoid generator. This function is temporarily not
working due to pxms_gen_tep call.
pxmc_trp_gend1*
Sets request speed to zero and than changes generator to
pxmc_nop_gd.
pxmc_trp_gdu10*
Increases request speed to maximal value and then it changes
generator to pxmc_trp_gdu20. This function is used when the
motor is rotating in upward direction.
1
pxmc_trp_gdu20*
Keeps request speed as a constant and after some time it
switches generator to pxmc_trp_gdu30. Thanks that for example
trapezoidal shape can be achieved. This function is used when
the motor is rotating in upward direction.
1
pxmc_trp_gdu30*
Decreases request speed to zero and then it switches the
generator to pxmc_trp_gend. This function is used when the
motor is rotating in upward direction.
1
pxmc_trp_gdd10*
It works as pxmc_trp_gdu10, but we use it when the motor is
rotating in downward direction.
1
pxmc_trp_gdd20*
It works as pxmc_trp_gdu20, but we use it when the motor is
rotating in downward direction.
1
pxmc_trp_gdd30*
It works as pxmc_trp_gdu30, but we use it when the motor is
rotating in downward direction.
1
pxmc_spd_gi
Initializes constant speed generator.
pxmc_spd_gd10*
Increases request speed and request position according to
acceleration and then it changes to pxmc_spd_gd20.
pxmc_spd_gd20*
It adds the constant speed generator to a given motor.
pxmc_spdnext_gi
Initializes transition to zero and then generator change.
pxmc_stop_gi
Initializes transition to zero speed and then stop.
pxmc_spdnext_gd*
Changes the generator to new one.
pxmc_spdnext_gend*
Finalize changing of the generator.
* - function is not accessible from outside of the library.
1
. We can thing about it also in a manner of clockwise and counterclockwise rotation.
5.3.9. PXMC_HH.C
This file defines only one function: pxmc_hh. At this point I can't give to much information
about it. During my short period of learning PXMC, I didn't enough time to get some
experience about this function.
Anyway, according to the source file, it describes Hard Home finding and movement to
home position of the axis. In other words, first the motor goes to a first switch on the first
end then it goes to second switch at the second end. After that the home position is
calculated and the motor goes there.