Esp_Set_Home_Speed(Long Axis, Float Speed); Esp_Get_Home_Speed(Long Axis, Float *Speed) - Newport ESP6000 User Manual

esp_set_home_speed Set Axis Home Speed
esp_get_home_speed Report Axis Home Speed Setting
Synopsis:
Arguments:
Library Location:
Description:
Returns:
Usage Example:
See Also:
Section 5 — Programming
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#include "esp6000.h"
int esp_set_home_speed(long axis, float speed)
int esp_get_home_speed(long axis, float *speed)
long axis
axis number from 1-6
long speed
target home speed <= maximum speed (in user units/second)
\esp6000.dll
esp_set_home_speed() sets the target slew speed, or velocity, for the specified axis. The
Homing algorithm uses the previously set acceleration, deceleration, and jerk settings.
esp_get_home_speed() reports the present target slew speed setting for the specified
axis.
If acceleration is too shallow the axis may not reach the target speed.
ESPOK, ESPERROR
Hint: During first time system testing set home speed to 1/10 of maximum speed.
#include "esp6000.h"
main()
{
long error, servotick;
if (!esp_init_system())
{
printf("ESP6000 Not Initialized! \r\n");
exit(-1);
}
/* Enable Axis 2 Motor Power */
esp_enable_motor(2);
/* Set Axis Home Speed */
esp_set_home_speed(2,20.0);
/* Begin Home Search On Axis 2 */
esp_find_home(2,1);
/* Wait For Home Search Completion */
while (!esp_home_done(2));
/* check error status */
esp_get_error_num(&error,&ServoTick);
if (error) printf("Error %d Reported!\r\n", error);
}
esp_find_home(), esp_home_done()
NOTE
5-53