Newport ESP6000 User Manual page 111

esp_set_traj_mode Set Axis Trajectory Mode
esp_get_traj_mode Report Axis Trajectory Mode Setting (Continued)
Usage Example:
See Also:
Section 5 — Programming
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
#include "esp6000.h"
main()
{
long error, servotick;
if (!esp_init_system())
{
printf("ESP6000 Not Initialized! \r\n");
exit(-1);
}
/* set S-Curve trajectory mode */
esp_set_traj_mode(1, SCURVE);
/* set axis 1 trajectory parameters */
esp_set_speed(1, 30.0);
esp_set_accel(1, 200.0);
esp_set_decel(1, 150.0);
esp_set_jerk(1, 10.0);
/* check error status */
esp_get_error_num(&error,&ServoTick) ;
if (error) printf("Error %d Reported!\r\n", error);
}
5-45