Definition:

#include <aMotion.tea>




void aMotion_SetRampFlags(

char channel, int flags);

Parameters:

channel	-	Motion control channel.
flags	-	Ramp motion control flags.

Return Value:

This routine does not return a value.

Description:

This routine sets new ramp motion control flags for a motion control channel.

The first byte in the 2-byte flags parameter is a reflex enable byte.  The most significant bit is the enable flag.  The 7 least significant bits are the reflex ID (0-127).  If enabled, a trapezoidal ramp motion will trigger the corresponding reflex when it is completed.  The second byte in the 2-byte parameter is a flag byte for controlling the ramp motion.  Flags can be used to enable velocity damping, synchronize dual ramp motions, retrieve final position error, and enable ramp nudging.  See the cmdMO_RMPCFG documentation for details.  The indices of each bit flag have a defined value.

aMOTION_RAMPFLAG_TYPE	0	0=trapezoidal ramp, 1=velocity damping
aMOTION_RAMPFLAG_SYNC	1	0=no sync, 1=synchronize dual ramps
aMOTION_RAMPFLAG_ERROR	2	0=normal, 1=write final position error to target distance
aMOTION_RAMPFLAG_NUDGE	3	0=normal, 1=enable final nudge step to minimize error

Example:

#include <aMotion.tea>

aMotion_SetRampFlags(0, 0x000A);
aMotion_SetRampFlags(1, 0xE40A);


The low byte of each parameter, 0x0A, has bits aMOTION_RAMPFLAG_NUDGE and aMOTION_RAMPFLAG_SYNC set.  This would enable ramp synchronization and the nudge feature for motors 0 and 1.  The high byte of the parameter for channel 1 is equivalent to 0x80 + 100.  When motor 1 completes its ramp motion, it will issue reflex 100.

Related:

aMotion_GetRampAccStepTime, aMotion_GetRampFlags, aMotion_GetRampTargetH, aMotion_GetRampTargetL, aMotion_GetRampVel, aMotion_SetRampAccStepTime, aMotion_SetRampTarget, aMotion_SetRampVel