SDK_Motion_Movement.mh File Reference

Declaration of the motion movement functions. More...

Go to the source code of this file.

Functions
long	sdkStartContinuousMove (long axis, long vel, long acc)
	Start a movement in continuous position mode. More...
long	sdkStopContinuousMove (long axis, long dec)
	Stop a movement in continuous position mode. More...

Detailed Description

Declaration of the motion movement functions.

Revision

39

Definition in file SDK_Motion_Movement.mh.

Function Documentation

sdkStartContinuousMove()

long sdkStartContinuousMove	(	long	axis,
		long	vel,
		long	acc
	)

Start a movement in continuous position mode.

The function starts a movement with a given acceleration and speed. The axis must have been switched on before. The specified velocity value will be scaled by the parameters Maximum velocity VELMAX and Velocity Resolution VELRES to determine the final command velocity. See Vel for more information.

Parameters

axis	Axis module number
vel	Velocity value (negative value for reversing), Range: 1..VELRES, Command Velocity = vel * VELMAX/VELRES
acc	Scaled acceleration value. Range: 1..VELRES

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 26 of file SDK_Motion_Movement.mc.

{
    Cvel(axis, vel);        // Set the velocity
    Acc(axis, acc);         // Set the acceleration
    AxisCvelStart(axis);    // Start constant velocity mode
 
    return(1);
}

sdkStopContinuousMove()

long sdkStopContinuousMove	(	long	axis,
		long	dec
	)

Stop a movement in continuous position mode.

The function stops a constant velocity movement with a given deceleration.

Parameters

axis	Axis module number
dec	Scaled deceleration value. Range: 1..VELRES

Returns

value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 45 of file SDK_Motion_Movement.mc.

{
    Dec(axis, dec);         // Set the deceleration
    AxisCvelStop(axis);     // Stop constant velocity mode
 
    return(1);
}