User manual

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

-32768 (0x8000). That means NO_CONTROL.

See also: DcMotorPositionNonTimeCtr

100 void DcMotorVelocityTimeCtrAll(short cmd1, short cmd2, short cmd3, short cmd4,

short cmd5, short cmd6, short timePeriods);

Description:

DcMotorVelocityTimeCtrAll sends the velocity 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 velocities and the time period to execute the command. The trajectory

planning method for time control is linear.

Syntax: DcMotorVelocityTimeCtrAll (cmd1, cmd2, cmd3, cmd4, cmd5, cmd6,

timePeriods);

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

short cmd2; // Target velocity for channel #2

short cmd3; // Target velocity for channel #3

short cmd4; // Target velocity for channel #4

short cmd5; // Target velocity for channel #5

short cmd6; // Target velocity for channel #6

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.

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

-32768 (0x8000). That means NO_CONTROL.