| cmdMO_RMPENA | Index |
Command Code:
The Packet:
| 0 | 1 | 2 | 3 | 4 | ||||
| address | 3 | cmdMO_RMPENA | RAMPENA | moID |
| RAMPENA - | Flags for stop or start. |
| moID - | The channel (zero based) whose ramp control is to be enabled or disabled. |
Description:
This command is only available on BrainStem modules with the motion control feature.
The cmdMO_RMPENA command is used to start or stop a ramp motion.
The ramp feature provides a capability for performing motions with a trapezoidal velocity profile. The ramp feature also provides a velocity damping mode.
When the RAMPENA parameter is 0, the ramp action is stopped and the velocity will remain at the last value set by the ramp action. When the RAMPENA parameter is 1, the ramp action will begin. This applies to both trapezoidal ramping and velocity damping. Velocity damping stays in effect until is explicitly disabled. Each individual trapezoidal ramp motion must be started with a cmdMO_RMPENA command.
When a ramp motion is newly enabled, the 32-bit encoder associated with that motion control channel is set to 0. This is true for both trapezoidal ramp mode and velocity damping mode.
When the moID parameter is absent, the RAMPENA parameter will be applied to all motion control channels. When the moID parameter is present, the RAMPENA parameter will be applied only to the specified channel.