Newport ESP6000 User Manual page 118

esp_set_max_jerk Set Axis Maximum Jerk Rate
esp_get_max_jerk Report Axis Maximum Jerk Rate Setting
Synopsis:
Arguments:
Library Location:
Description:
Returns:
Usage Example:
See Also:
5-52
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#include "esp6000.h"
int esp_set_max_jerk(long axis, float jerk)
int esp_get_max_jerk(long axis, float *jerk)
long axis
axis number from 1-6
long jerk
maximum jerk in user units/seconds
\esp6000.dll
esp_set_max_jer() sets the maximum permissible jerk (acceleration derivative) for the
specified axis.
The controller will not accept jerk parameters set by other API function calls which
exceed maximum permissible jerk.
esp_get_max_jerk() reports the maximum permissible jerk setting for the specified
axis.
The jerk parameter is only effective when the specified axis' trajectory mode is set
to SCURVE.
ESPOK, ESPERROR
Hint:
#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_max_speed(1, 100.0);
esp_set_max_accel(1, 500.0);
esp_set_max_jerk(1,100.0);
/* check error status */
esp_get_error_num(&error,&ServoTick) ;
if (error) printf("Error %d Reported!\r\n", error);
}
esp_set_jerk()
2
NOTE