Adlink HSL-4XMO Manual de usuario descargar pdf (Pagina 60)

50 Operation Theory

and Axis1, and also Axis3 (Axis0=x, Axis1=y, Axis2=z, Axis3=u).

For the full lists of functions.

To check if the board supports these functions use the

HSL_M_version_info() function. If hardware information for the

card returns a value with the 4th digit greater then 0, for example

'1003', users can use this group of circular interpolation to perform

S or T-curve speed profiles. If the hardware version returns a

value with the 4th digit being 0, then that board does not support

these functions.

Figure 4-14: Circular Interpolation with Acc/dec Time

Relationship between Velocity and Acceleration Time

The maximum velocity parameter of a motion function will eventu-

ally have a minimum acceleration value. This means that there is a

range for acceleration time over one velocity value. Under this

relationship, to obtain a small acceleration time, a higher maxi-

mum velocity value to match the smaller acceleration time is

required. Function HSL_M_fix_speed_range() will provide such

operation. This function will raise the maximum velocity value,

which in turn results in a smaller acceleration time. Note it does

not affect the actual end velocity. For example, to have a 1ms

acceleration time from a velocity of 0 to 5000(pps), the function

can be inserted before the motion function as shown.

HSL_M_fix_speed_range(AxisNo,OverVelocity);

HSL_M_start_tr_move(AxisNo,5000,0,5000,0.001,0.0

01);

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Adlink HSL-4XMO Manual de usuario Pagina 60