User manual

1. Motor will be enabled automatically by the system when this command is received.

2. Target position value is in the A/D sampling data range 0 to 4095 when using

single potentiometer, 0-4428 when using dual potentiometers.

3. Please refer to the description of GetSensorPot for data converting between

angular values and the A/D sampling data values.

4. When using encoder as sensor input, the target position value is the pulse count in

the range of 0- 32767.

See also: DcMotorPositionTimeCtr, GetSensorPot

94 void DcMotorVelocityTimeCtr(short channel, short cmdValue, short timePeriods);

Description:

DcMotorVelocityTimeCtr sends the velocity control command to the specified motion

control channel on the Sensing and Motion Controller (PMS5005). The command includes

the target velocity and the time period to execute the command. The current trajectory

planning method for time control is linear.

Syntax: DcMotorVelocityTimeCtr (channel, cmdValue, timePeriod);

Parameter: short channel; // 0, 1, 2, 3, 4, or 5

short cmdValue; // Target velocity value

short timePeriod; // Executing time in milliseconds

Return value: void

Remarks:

1. Motor will be enabled automatically by the system when this command is received

2. No velocity is available for motor channel using single potentiometer sensor

3. The unit of the velocity is (Position change in A/D sampling data) / second when

using dual potentiometer sensor for rotational position measurement and pulse/

second when using quadrature encoder.

4. Please refer to the description of GetSensorPot for data conversion between

angular values and the A/D sampling data values.