Adlink HSL-4XMO Manuel d'utilisateur télécharger pdf (Page 88)

78 Operation Theory

Figure 4-34: Velocity Suggestions B

Example:

There are 3 speed change sensors during an absolute move for

200000 pulses. Initial maximum speed is 10000pps. Change to

25000pps if Sensor 1 is touched. Change to 50000pps if Sensor 2

is touched. Change to 100000pps if Sensor 3 is touched. Then the

code for this application and the resulting velocity profiles are

shown below.

Figure 4-35: Velocity Example

#include “pci_HSL-4XMO.h”

HSL_M_fix_speed_range(axis, 100000.0);

HSL_M_start_ta_move(axis, 200000.0, 1000, 10000,

0.02,0.01);

while(!HSL_M_motion_done(axis))

{

// Get sensor’s information from another I/O

card

1 2 ... 83 84 85 86 87 88 89 90 91 92 93 ... 115 116

HSL-4XMO 1
Getting Service from ADLINK 3
Table of Contents 5
Table of Contents iii 7
List of Tables 8
List of Figures 9
1 Introduction 11
1.1 Features 12
1.2 Specifications 13
Ω @ 0.5W 14
°C – 60°C 14
°C – 80°C 14
1.3 Supported Software 15
6Introduction 16
2 Installation 17
±5% External power supply 20
Speed Selection 24
Installation 15 25
16 Installation 26
3 Signal Connections 27
18 Signal Connections 28
Signal Connections 19 29
20 Signal Connections 30
Ω (None) 31
3.3 Origin Signal ORG 32
Signal Connections 23 33
3.6 In-position Signal INP 34
3.7 Alarm Signal ALM 35
26 Signal Connections 36
3.12 Emergency Stop Input EMG 37
3.13 General-purpose Input 38
3.14 General-purpose Output 38
Signal Connections 29 39
30 Signal Connections 40
4 Operation Theory 41
4.3 Command Delivering Time 42
34 Operation Theory 44
Figure 4-3: DSP Multi-Tasks 44
4.6 Motion Control Modes 45
36 Operation Theory 46
Velocity Mode Motion 47
Trapezoidal Motion 48
Operation Theory 39 49
MaxVel = StrVel + accel*Tacc; 49
40 Operation Theory 50
S-curve Profile Motion 51
42 Operation Theory 52
X Relative Functions: 53
ΔX: ΔY), respectively 55
X t – Trapezoidal profile 56
X s – S-Curve profile 56
X r – Relative motion 56
X a – Absolute motion 56
ΔX: ΔY: ΔZ) 57
ΔX */ , 2000.0/ 57
50 Operation Theory 60
Home Return Mode 63
54 Operation Theory 64
Figure 4-17: home_mode=0 64
Operation Theory 55 65
Figure 4-18: home_mode=1 65
Figure 4-19: home_mode=3 65
EZ -> Stop 66
Operation Theory 57 67
Figure 4-21: home_mode=5 67
Figure 4-22: home_mode=6 67
Figure 4-23: home_mode=7 67
> Slow down -> Stop 68
Operation Theory 59 69
Figure 4-26: home_mode=10 69
60 Operation Theory 70
Figure 4-27: home_mode=11 70
Figure 4-28: home_mode=12 70
Operation Theory 61 71
62 Operation Theory 72
HSL_M_set_home_config() 72
HSL_M_home_move() 72
HSL_M_home_search() 72
Operation Theory 63 73
SVON and RDY 75
±EL: End-limit sensor 76
4.9 The Counters 78
Feedback Position Counter 79
Position Error Counter 81
General Purpose Counter 81
Target Position Recorder 82
Operation Theory 73 83
HSL_M_reset_target_pos() 83
Change Speed on the Fly 84
Operation Theory 75 85
76 Operation Theory 86
Relative Functions: 89
Change Position on the Fly 90
Operation Theory 81 91
4.12 Position Compare 92
Position Compare 93
86 Operation Theory 96
HSL_M_set_trigger_type () 96
HSL_M_backlash_comp() 96
HSL_M_suppress_vibration() 96
4.14 Software Limit Function 97
4.15 Point Table Management 97
4.16 Motion Script Download 98
Main Menu 101
SD, and LTC 102
Pulse IO Configuration Menu 103
Operation Menu 105
6 Appendix 113
104 Appendix 114
0.5 + (Num – 4)/2 * 0.24 ms 114
Warranty Policy 115
106 Warranty Policy 116

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