Esp_Set_Jog_Speed(Long Axis, Float Speed); Esp_Get_Jog_Speed(Long Axis, Float *Speed) - Newport ESP6000 User Manual

esp_set_jog_speed Set Axis Jog Mode Speed
esp_get_jog_speed Report Axis Jog Mode 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_jog_speed(long axis, float speed)
int esp_get_jog_speed(long axis, float *speed)
long axis
axis number from 1-6
float speed
target jog speed and direction <= maximum speed (in user units/second)
\esp6000.dll
esp_set_jog_speed() sets the target slew speed (velocity) for the specified axis. The
sign of the jog speed determines the direction of the axis motion. For example, if the jog
speed is defined as -2.0, then after the trajectory mode is set to jog (e.g.,
esp_set_traj_mode(1, JOG)) the specified axis will move in the negative direction at set
speed.
esp_get_jog_speed() reports target slew speed setting for the specified axis.
In order for the axis to begin jog motion it first has to be placed in jog trajectory mode
with the esp_set_traj_mode() command.
While in jog trajectory mode the axis will move indefinitely or until an esp_stop(),
esp_stop_all() command is received.
Note that if acceleration is too shallow the axis may not reach the target speed.
ESPOK, ESPERROR
Hint: Use esp_stop() function to stop jog motion.
#include "esp6000.h"
main()
{
long error, servotick;
if (!esp_init_system()) exit(-1);
esp_enable_motor(1);
/* set axis 1 to jog trajectory mode */
esp_set_traj_mode(1,JOG);
/* set axis 1 speed and direction */
esp_set_jog_speed(1, -20.0);
• • •
/* stop motion */
esp_stop(1);
}
esp_set_traj_mode(), esp_stop(), esp_enable_motor()
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