Instruction Manual

Operations • 33

following diagram shows the output waveform of positive (plus,+) command

and negative (minus,-) command.

Relative Function:

set_pls_optmode(): Refer to section 6.4

4.1.2 Constant Velocity Motion

This mode is used to operate one axis motor at constant velocity motion.

The output pulse accelerates from a starting velocity (str_vel) to the

specified constant velocity (max_vel). The

v_move()

function is used to

accelerate constantly while the

sv_move()

function is to accelerate

according to S-curve (constant jerk). The pulse output rate will keep at

maximum velocity until another velocity command is set or stop command is

issued. The

v_change()

is used to change speed during moving. The

v_stop() function is used to decelerate the motion to zero velocity (stop).

The velocity profile is shown as following.

Note

that v_stop() function can

be also be applied to stop outputting command pulses during

Preset Mode

(both trapezoidal and S-curve Motion) ,

Home Mode

Manual Pulser

Mode

operations

Relative Functions:

v_move( ), v_stop( ), sv_move(): Refer to section 6.5

OUT

DIR

Negative Command

OUT

DIR

Positive Command