User guide

運動控制功能原理介紹 125
PCI-8254 / PCI-8258
• 例 1:
設定參數，啟動 Velocity move，其範例流程如下，
1. 2 秒後改變最大速度
2. 2 秒後改變最大速度
3. 2 秒後減速停止
#include "APS168.h"
#include "APS_define.h"
#include "ErrorCodeDef.h"
void velocity_move_example()
{
I32 axis_id = 0;
F64 speed_1 = 500.0;
F64 speed_2 = 1000.0;
F64 speed_3 = 600.0;
APS_set_axis_param_f( axis_id, PRA_STP_DEC, 10000.0 );
APS_set_axis_param_f( axis_id, PRA_CURVE, 0.5 ); //Set acceleration rate
APS_set_axis_param_f( axis_id, PRA_ACC, 10000.0 ); //Set acceleration rate
APS_set_axis_param_f( axis_id, PRA_DEC, 10000.0 ); //Set deceleration rate
APS_vel( axis_id, 0, speed_1, 0 ); // Start a velocity move
Sleep( 2000 ); // Wait 2 second
APS_vel( axis_id, 0, speed_2, 0 ); // Change speed on the fly
Sleep( 2000 ); // Wait 2 second
APS_vel( axis_id, 0, speed_3, 0 ); // Change speed on the fly
Sleep( 2000 ); // Wait 2 second
APS_stop_move( axis_id ); // Stop
}
preliminary