Newport ESP6000 User Manual page 110

esp_set_traj_mode Set Axis Trajectory Mode
esp_get_traj_mode Report Axis Trajectory Mode Setting
Synopsis:
Arguments:
Library Location:
Description:
Returns:
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#include "esp6000.h"
int esp_set_traj_mode(long axis, long mode)
int esp_get_traj_mode(long axis, long *mode)
long axis
axis number from 1-6
long mode
possible trajectory modes are: TRAPEZOID, TRAPSTEP, SCURVE, SLAVEP,
SLAVET, JOG
\esp6000.dll
esp_set_traj_mode() defines the trajectory mode for the specified axis.
esp_get_traj_mode() reports the present trajectory mode setting for the specified axis.
TRAPEZOID - sets the axis into classical trapezoidal motion profile mode.
TRAPSTEP - sets stepper motor axis into trapezoidal motion profile mode with start/
stop speed implementation to avoid inherent stepper motor resonant frequencies.
SCURVE - sets the axis into S-curve motion profile mode. This helps provide smoother,
jerk-free motion when properly tuned. This mode is not available for stepper motor
axes.
JOG - sets the axis into jog mode. When an axis has been placed in jog mode and
the axis is enabled, motion is started by setting the jog velocity with the
esp_set_jog_speed() function. The axis will then accelerate to this specified velocity
and continue until a stop command is issued, or a new velocity is specified.
SLAVEP - sets an axis into slave mode with respect to the master's position feedback.
SLAVET - sets an axis into slave mode with respect to the master's ideal trajectory
output.
ESPOK, ESPERROR
Hint: