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Operation Theory 81

Figure 4-38: Theory of HSL_M_p_change()

HSL_M_p_change() Constraints:

1. HSL_M_p_change() is only applicable on single-axis

absolute pre-set motion, i.e., HSL_M_start_ta_move(),

and HSL_M_start_sa_move() only.

2. Position change during the deceleration period is not

allowed.

3. There must be enough distance between the new target

position and current position where HSL_M_p_change()

is executed because the HSL-4XMO needs enough

space to finish deceleration.

Example:

A trapezoidal absolute motion is applied:

HSL_M_start_ta_move(0,10000,0,1000,0.5,1).

It cause axis 0 to move to pulse 10000 position with a maximum

velocity of 1000 PPS. The necessary number of pulses to deceler-

ate is 0.5*1000*1 = 500.

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