Instruction Manual

76 • Function Library
v_stop Decelerate to stop
set_sd_stop_mode Set slow down stop mode
fix_max_speed Fix maximum speed setting
unfix_max_speed Unfix maximum speed setting
get_current_speed Get current speed in pps
verify_speed Get the minimum acceleration time under the
speed setting
Trapezoidal Motion Mode
Section 6.6
a_move Perform an absolute trapezoidal profile move and wait for
finish
start_a_move Start an absolute trapezidal profile move
r_move Perform a relative trapezoidal profile move and wait for finish
start_r_move Start a relative trapezoidal profile move
t_move Perform a relative non-symmetrical trapezoidal profile move
and wait for finish
start_t_move Start a relative non-symmetrical trapezidal profile
move
start_ta_move Start an absolute non-symmetrical trapezidal profile
move
ta_move Start an absolute non-symmetrical trapezoidal profile move
and wait for finish
wait_for_done Wait for an axis to finish
set_rdp_mode Set Ramping down mode
S-Curve Profile Motion
Section 6.7
s_move Perform an absolute S-curve profile move and wait for finish
start_s_move Start an absolute S-curve profile move
rs_move Perform a relative S-curve profile move and wait for finish
start_rs_move Start a relative S-curve profile move
tas_move Perform an absolute non-symmetrical S-curve profile move
and wait for finish
start_tas_move Start an absolute non-symmetrical S-curve profile
move
Multiple Axes Point to Point Motion
Section 6.8
start_move_all Start a multi-axis trapezodial profile move