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);