Newport ESP6000 User Manual page 115

esp_set_decel Set Axis Deceleration Rate
esp_get_decel Get Axis Deceleration Rate
Synopsis:
Arguments:
Library Location:
Description:
Returns:
Usage Example:
See Also:
Section 5 — Programming
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#include "esp6000.h"
int esp_set_decel(long axis, float decel)
int esp_get_decel(long axis, float *decel)
long axis
axis number from 1-6
float accel
target deceleration <= maximum accel (in user units/seconds
\esp6000.dll
esp_set_decel() sets the target deceleration rate for the specified axis.
esp_get_decel() reports the target deceleration rate for the specified axis.
ESPOK, ESPERROR
Hint: Deceleration typically is set equal to acceleration.
#include "esp6000.h"
main()
{
long error, servotick;
if (!esp_init_system())
{
printf("ESP6000 Not Initialized! \r\n");
exit(-1);
}
/* set axis 1 trajectory parameters */
esp_set_speed(1, 30.0);
esp_set_accel(1, 200.0);
esp_set_decel(1, 150.0);
/* check error status */
esp_get_error_num(&error,&ServoTick) ;
if (error) printf("Error %d Reported!\r\n", error);
}
esp_set_speed(), esp_set_accel(), esp_move_absolute(), esp_set_resolution()
2
)
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