Motion profile header
The Motion profile function and the values of motion parameters are defined in the header file AxisConfiguration.h
. The values we provide for motion profile are examples. You should customize the values for your axis.
In AxisConfiguration.h
, your Motion profile code should be like the following.
#pragma once
/* Motion Profile */
//Units used for Acceleration and Jerk.
//profileUnitPerSecond: Acceleration in unit per second^2, Jerk in unit per second^3.
//profileDelayInSecond: Acceleration and Jerk in second.
#define MOTION_PROFILE_TYPE profileUnitPerSecond
//The axis is considered In Target when the following error is less than this value.
#define MINIMUM_ERROR 3
//The system considers it fails to control the axis when the following error is greater than this value.
//The axis will be disabled and in Error state with error 0x3005.
#define MAXIMUM_ERROR 360
//Maximum velocity used during the interpolation.
#define MAXIMUM_VELOCITY 3600
//Maximum acceleration used during the interpolation.
#define MAXIMUM_ACCELERATION 36000
//Maximum deceleration used during the interpolation.
#define MAXIMUM_DECELERATION 36000
//Maximum jerk used during the interpolation.
//Setting this value to zero will result in a T-Curve interpolation.
#define MAXIMUM_JERK 3600000
//Maximum jolt used during the interpolation.
//This is a placeholder for this value is not used.
#define MAXIMUM_JOLT 0
VOID MotionProfile(int Index);