Trapezoidal Motion; Figure 4-6: Velocity Mode Motion - ADLINK Technology HSL-4XMO User Manual

tions, tv_move or sv_move. The velocity profile is shown as fol-
lows:
Note: The v_change and stop functions can also be applied to Pre-
set Mode or Home Mode (refer to 4.1).
Relative Functions:
HSL_M_tv_move()
HSL_M_sv_move()
HSL_M_v_change()
HSL_M_sd_stop()
HSL_M_emg_stop()
HSL_M_fix_speed_range()
HSL_M_unfix_speed_range()

Trapezoidal Motion

This mode is used to move a singe axis motor to a specified posi-
tion (or distance) with a trapezoidal velocity profile. The single axis
is controlled from point to point. An absolute or relative motion can
be performed. In absolute mode, the target position is assigned. In
relative mode, the target displacement is assigned. In both cases,
the acceleration and deceleration can be different. The function
HSL_M_motion_done() is used to check whether the movement is
complete.
The following diagram shows the trapezoidal profile:
34

Figure 4-6: Velocity Mode Motion

Operation Theory