Adlink HSL-4XMO Manual do Utilizador descarregar pdf (Página 47)

Operation Theory 37

Figure 4-5: Dual Pulse Output Mode (CW/CCW Mode)

X Relative Function:

HSL_M_set_pls_outmode()

Velocity Mode Motion

This mode is used to operate a one-axis motor with Velocity mode

motion. The output pulse accelerates from a starting velocity

(StrVel) to a specified maximum velocity (MaxVel). The

HSL_M_tv_move() function is used for constant linear accelera-

tion while the HSL_M_sv_move() function is use for acceleration

according to the S-curve. The pulse output rate is kept at maxi-

mum velocity until another velocity command is set or a stop com-

mand is issued. The HSL_M_v_change() is used to change the

speed during an operation. Before this function is applied, be sure

to call HSL_M_fix_speed_range(). Please refer to section 4.6 for

more detail explanation. The HSL_M_sd_stop() function is used to

decelerate the motion until it stops. The HSL_M_emg_stop() func-

tion is used to immediately stop the motion. These change or stop

functions follow the same velocity profile as its original move func-

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Adlink HSL-4XMO Manual do Utilizador Página 47