User manual

Return value: void

Remarks:

1. All DC Motors 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.

5. When some motors are not under controlled, their command values should be set as

-32768 (0x8000). That means NO_CONTROL.

See also: DcMotorPositionTimeCtr,

99 void DcMotorPositionNonTimeCtrAll(short cmd1, short cmd2, short cmd3,short cmd4,

short cmd5, short cmd6);

Description:

DcMotorPositionNonTimeCtrAll sends the position control command to all 6 DC motor

control channels on the Sensing and Motion Controller (PMS5005) at the same time. The

command includes the target positions without specific execution time period. The motion

controller will drive the motor to reach the target position with maximum effort.

Syntax: DcMotorPositionNonTimeCtrAll(cmd1, cmd2, cmd3, cmd4, cmd5, cmd6);

Parameter: short cmd1; // Target position for channel #1

short cmd2; // Target position for channel #2

short cmd3; // Target position for channel #3

short cmd4; // Target position for channel #4

short cmd5; // Target position for channel #5

short cmd6; // Target position for channel #6