User`s manual

Operation Theory 125
_8164_fix_speed_range() is necessary before any
_8164_v_change() function, and
_8164_unfix_speed_range() releases the speed range con-
strained by _8164_fix_speed_range().
The function _8164_cmp_v_change() almost has the same
function as _8164_v_change(), except
_8164_cmp_v_change() acts only when a general comparator
comes into existence. Refer to section 4.4.4 for more details about
the general comparator.
The last four functions are relatively easy to understand and use.
So, the discussion below will be focused on _8164_v_change().
Theory of _8164_v_change():
The _8164_v_change() function is used to change MaxVel on
the fly. In a normal motion operation, the axis starts at StrVel
speed, accelerates to MaxVel, and then maintains MaxVel until it
enters the deceleration region. If MaxVel is change during this
time, it will force the axis to accelerate or decelerate to a new Max-
Vel in the time period defined by the user. Both Trapezoidal and S-
curve profiles are applicable. The speed changes at a constant
acceleration for a Trapezoidal and constant jerk for a S-curve pro-
file.