ADLINK Technology AMP-204C User Manual page 169

I32 APS_arc3_ca ();I32 APS_arc3_ca_v ();I32 APS_arc3_ca_all
();I32 APS_arc3_ce ();
I32 APS_arc3_ce_v ();I32 APS_arc3_ce_all ();I32 APS_arc3_ca
();I32 APS_arc3_ca_v ();
I32 APS_arc3_ca_all ();I32 APS_sprial_ca ();I32
APS_sprial_ca_v ();I32 APS_sprial_ca_all ();
I32 APS_sprial_ce ();I32 APS_sprial_ce_v ();I32
APS_sprial_ce_all ();
b. Send the trigger signal to run synchronized start
You may enable multiple axes at the same time by sending
trigger with function in form of:
I32 APS_move_trigger ();
See figure below for multiple axes' concurrent startup by trigger:
Velocity
APS_ptp( axis0, MF_WAIT…);
Axis 0
Axis 1
Axis 0
Axis 1
Relevant APS API described below:
I32 APS_move_trigger (); // trigger issued
I32 APS_stop_move (); // synchronized deceleration stoppped
I32 APS_stop_move (); // synchronized Emg stoppped
Motion Control Theory
APS_ptp( axis1, MF_WAIT…);
In WAIT state
In WAIT state
AMP-204C / AMP-208C
APS_move_trigger( );
Time
Time
Time
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